1. Computer and Information Science | Computer Systems Department
2nd Seminar 11/4/2013
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 12nd Seminar

2. • Team
– Ahmed Mohamed Emad
– Abdelrahman Ehab Soliman
– Muhammed Aly Huessin
– Anas Awad Ismail
• Academic Supervisors
– Prof. Hossam El-Din Fahem
– Dr. Wael S. El-Kilany
– TA. Agwad Hammad
Team Members
Co-Swarm: Cooperative area exploration using a swarm of mobile robotsCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 22nd Seminar

3. • Frontier-Based Exploration
– Single Exploration:
• Motion Planning Module.
• Path Executer.
• Communication.
– Co-Swarm:
• Self-Organizing Models.
• Anti-Flocking model.
• Timeline:
– Our Status.
Outline
Co-Swarm: Cooperative area exploration using a swarm of mobile robotsCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 32nd Seminar
Outline Single Exploration Co-Swarm Timeline References

4. Motion Planning
– Navigate to Frontiers[Area Exploration].
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Motion Planning
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 42nd Seminar
Outline Single Exploration Co-Swarm Timeline References
Stop
Avoid
Obstacles
Rotate
Move
Explore
No Avail. Path
Avail. Path
Find obstacle
New path
New path

5. Motion Planning
– Navigate to Frontiers[Area Exploration].
– Static Environment.
– A* Algorithm.
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Motion Planning
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 52nd Seminar
Outline Single Exploration Co-Swarm Timeline References

6. Motion Planning
– Navigate to Frontiers[Area Exploration].
– Static Environment .
– A* Algorithm
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Motion Planning
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 62nd Seminar
Outline Single Exploration Co-Swarm Timeline References

7. Path Executer
– Replace Robo-Car brains with PC’s.
– Sending a optimal path to the Robot.
– Embedded implementation for path execution.
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Path Executer
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 72nd Seminar
Outline Single Exploration Co-Swarm Timeline References

8. Path Executer
– Replace Robo-Car brains with PC’s.
– Sending a optimal path to the Robot.
– Embedded implementation for path execution.
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Motion Planning
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 82nd Seminar
Outline Single Exploration Co-Swarm Timeline References

9. Path Executer
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Motion Planning
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 92nd Seminar
Outline Single Exploration Co-Swarm Timeline References

10. Communication:
– PC-to-PC using Wireless LAN .
– Robot-to-PC using Bluetooth.
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Communication
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 102nd Seminar
Outline Single Exploration Co-Swarm Timeline References

11. Communication:
– PC-to-PC using Wireless LAN .
– Robot-to-PC using Bluetooth.
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Communication
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 112nd Seminar
Outline Single Exploration Co-Swarm Timeline References

12. Swarm Intelligence
–Mobility Models of Mobile Sensors:
• Fully Coordinated Control Model.
• Fully Random Model
• Self-Organizing Models:
– Emergent Motion Control Model
– Anti-Flocking Algorithm
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Co-Swarm
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 122nd Seminar
Outline Single Exploration Co-Swarm Timeline References

13. Swarm Intelligence
–Mobility Models of Mobile Sensors:
• Fully Coordinated Control Model.
• Fully Random Model
• Self-Organizing Models:
– Emergent Motion Control Model
–Anti-Flocking Algorithm
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Co-Swarm
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 132nd Seminar
Outline Single Exploration Co-Swarm Timeline References

14. Swarm Intelligence
–Anti-Flocking [Social Behavior Of Solitary
Animals]
• There are some animals that survive due to
different social behaviors called solitary
flocking.
• The cooperative behavior can be thought as
high-level cooperation based on neighborhood
communication
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Co-Swarm
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 142nd Seminar
Outline Single Exploration Co-Swarm Timeline References

15. Swarm Intelligence
–Anti-Flocking [Social Behavior Of Solitary
Animals]
• AF algorithm is inspired by the cooperative
behavior of solitary animals that results in
maximizing search coverage and minimizing
overlapping.
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Co-Swarm
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 152nd Seminar
Outline Single Exploration Co-Swarm Timeline References

16. Swarm Intelligence
–Anti-Flocking [Social Behavior Of Solitary
Animals]
• Collision Avoidance.
• De-Centering.
• Selfishness.
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Frontier-Based|Co-Swarm
Co-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 162nd Seminar
Outline Single Exploration Co-Swarm Timeline References

17. Timeline
ID Task name start finish 11 12 1 2 3 4 5
1 problem characterization 1/11 15/11
2 literature survey on cooperative
mapping using multirobot systems
15/11 1/1
3 Testing robo-car capabilities 15/11 15/12
4 Developing a set of simple
behaviors to control the motion of
robo-car, obstacle avoidance
25/1 20/2
5 Developing a robo-car framework
to work with
20/2 6/3
6 Implementing exploration on one
robot
25/2 10/3
7 Developing a fusion technique for
combining local maps into global
map
10/3 5/4
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Outline Single Exploration Co-Swarm Timeline References
April 2013 172nd Seminar

18. Timeline
ID Task name Start finis
h
11 12 1 2 3 4 5
8 Studying coordinated mobility
model mobility and anti-flocking
model mobility and their effect on
the mapping process
10/3 5/4
9 Implementation 15/11 1/5
10 Performance evaluation and
refinement
15/4 15/5
11 Final Report 1/12 30/5
12 Presentation and final delivery
Co-Swarm: Cooperative area exploration using a swarm of mobile robots
Outline Single Exploration Co-Swarm Timeline References
April 2013 182nd Seminar

19. • Frontier-Based Exploration Using Multiple Robots – Brain
Yamauchi – 1998.
• A Frontier-Based Approach for Autonomous Exploration – Brain
Yamauchi – 1997.
• A comparison of path planning strategies for autonomous
exploration and mapping of unknown environments – Miguel
Juliá – 2012.
• Novel Mobility Model for Mobile Sensors Deployment in
Surveillance Systems – Alaa Khamis – 2011 .
• Probabilistic Robotics – Sebastian Thrun.
• An Introduction to AI Robotics – Robin R. Murphy.
• Embedded Robotics – Thomas Braunl.
• Robocar user Manual.
References
Co-Swarm: Cooperative area exploration using a swarm of mobile robotsCo-Swarm: Cooperative area exploration using a swarm of mobile robots April 2013 192nd Seminar
Outline Single Exploration Co-Swarm Timeline References