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

Audelia G. DHARMAWAN; GimSong SOH; Shao hui FOONG; Roland BOUFFANAIS; Kristin L. WOOD

doi:10.1631/FITEE.1900384

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

Special Feature on Intelligent Design | Updated：2022-05-19

- Design innovation of mesoscale robotic swarms: applications to cooperative urban sensing and mapping
- 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
- Frontiers of Information Technology & Electronic Engineering Vol. 20, Issue 12, Pages: 1618-1631(2019)
- Affiliations：
  
  Singapore University of Technology and Design, Singapore 487372, Singapore
- Author bio：
  
  Gim Song SOH, E-mail: sohgimsong@sutd.edu.sg
- Funds：
- DOI：10.1631/FITEE.1900384
  CLC： TP242
- Received：30 July 2019，
  
  Revised：2019-12-25，
  
  Published：2019-12
- Accepted：
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Audelia G. DHARMAWAN, GimSong SOH, Shao hui FOONG, et al. 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.
DOI：

Audelia G. DHARMAWAN, GimSong SOH, Shao hui FOONG, et al. 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. DOI： 10.1631/FITEE.1900384.

摘要

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.

关键词

Keywords

references

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