Part 3:Enhancing multi robot

collaboration based on TRIZ

Amirhossein AghamohammadiMei Choo Ang

Marzieh Mogharrebi

Military Industrial Commercial applications such as Homeland Defence, Law Enforcement Nuclear Biological and Chemical hazardous environments. Search, rescue, surveillance, and reconnaissance missions

Automated robotic systems can provide capabilities in:

How to rescue the people who are located on populated area, since the area in inaccessible by human?

Question :

How fast we can search the target area of interest and locate the bomb, without risking human lives?

Problem:

Answer:

Collaborating robots

Advantages of collaborating robots

• It is very e ective for completing di cult missions on ff ffitime.

• keeping humans out of harm’s way and letting them concentrate on higher level tasks

• It is a cost e ective and force multiplier approach.ff

Component Modeling

How to control the heterogeneous robots in collaborative tasks without inter-communication between them?

Problem Statement

What would be happened if no wireless connection happening?

Inspired solution from segmentation TRIZ principle

So the solution is,

Using fully distributed and dynamically controlling in pair group of robots

Solution…

This division and segmentation (pairs) can provide to control the formation of robots distributedly. In this case, we divide the robots to leader and follower in each groups. For the representation of the complete distributed multi-robot formation system, in which each follower robot has its own leader robot.

Solution Description

An example of number of robots and the pairs of segmentation with leader and follower.

Follower

Follower

Follower

Leader

Leader

Leader

Solution Description

The follower robots’ motions are based only on the sensing ability of its own camera sensor. Followers use visual targeting and target estimation techniques to follow the leader. This strategy is individually and fully distributed in each pair groups (follower and leader) base image processing techniques.

Solution Description

Distributed formation control in each pair groups (follower and leader) base image processing techniques

So, the problem can be solved using by segmentation (assign to pair groups) and distributed controlling of robots with no inter-communication.

Conclusion