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CLC number: TP242

On-line Access: 2020-01-13

Received: 2019-07-30

Revision Accepted: 2019-12-17

Crosschecked: 2019-12-25

Cited: 0

Clicked: 5499

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Gim Song Soh

http://orcid.org/0000-0002-0042-5151

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Frontiers of Information Technology & Electronic Engineering  2019 Vol.20 No.12 P.1618-1631

http://doi.org/10.1631/FITEE.1900384


Design innovation of mesoscale robotic swarms: applications to cooperative urban sensing and mapping


Author(s):  Audelia G. Dharmawan, Gim Song Soh, Shaohui Foong, Roland Bouffanais, Kristin L. Wood

Affiliation(s):  Singapore University of Technology and Design, Singapore 487372, Singapore

Corresponding email(s):   sohgimsong@sutd.edu.sg

Key Words:  System-of-systems design, Mesoscale robot, Swarm, Urban sensing


Audelia G. Dharmawan, Gim Song Soh, Shaohui Foong, Roland Bouffanais, Kristin L. Wood. Design innovation of mesoscale robotic swarms: applications to cooperative urban sensing and mapping[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(12): 1618-1631.

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journal="Frontiers of Information Technology & Electronic Engineering",
volume="20",
number="12",
pages="1618-1631",
year="2019",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.1900384"
}

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%A Audelia G. Dharmawan
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%A Shaohui Foong
%A Roland Bouffanais
%A Kristin L. Wood
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Abstract: 
Development of mesoscale robots is gaining interest in security and surveillance domains due to their stealth and portable nature in achieving tasks. Their design and development require a host of hardware, controls, and behavioral innovations to yield fast, energy-efficient, distributed, adaptive, robust, and scalable systems. We extensively describe one such design and development process by: (1) the genealogy of our embedded platforms; (2) the key system architecture and functional layout; (3) the developed and implemented design principles for mesoscale robotic systems; (4) the various key algorithms developed for effective collective operations of mesoscale robotic swarms, with applications to urban sensing and mapping. This study includes our perception of the embedded hardware requirements for reliable operations of mesoscale robotic swarms and our description of the key innovations made in magnetic sensing, indoor localization, central pattern generator control, and distributed autonomy. Although some elements of the design process of such a complex robotic system are inevitably ad-hoc, we focus on the system-of-systems design process and the component design integration. This system-of-systems process provides a basis for developing future systems in the field, and the designs represent the state-of-the-art development that may be benchmarked against and adapted to other applications.

中尺度机器人群集设计创新:合作式城市传感和测绘场景下的应用

摘要:由于中尺度机器人具有隐蔽性、便携性等特点,安全与监测领域的中尺度机器人研发越来越受到重视。为实现快速、节能、分布式、自适应、具有鲁棒性和可伸缩的系统,中尺度机器人设计和开发需大量硬件、控制和行为创新。本文从4方面详述其设计和开发过程:(1)嵌入式平台的系谱学;(2)关键系统架构和功能布局;(3)研发和实施中尺度机器人系统的设计原则;(4)为中尺度机器人族群有效集体运作而开发的各种关键算法,及在城市传感和测绘领域的应用。这需要我们对可靠运行的嵌入式硬件需求具有清晰认知,以及在磁感、室内定位、中央模式发生器控制和中尺度器人群体分布式自治方面作出关键创新。虽然在复杂机器人系统设计过程中不可避免采用一些临时方法,但本文主要关注成体系系统的设计过程以及组件设计集成。成体系系统的设计过程为该领域未来系统的开发提供了基础。本文所介绍的设计代表最新发展趋势,可作为其他应用的基准,并推广到其他领域。

关键词:成体系系统设计;中尺度机器人;群集;城市传感

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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