Working Title: Framework for Multi-Robot Systems capable of Efficient

Navigation and Operation in a Real-World Environment

Members:
Via Mateo
Francis Tiausas
Jens Velarde

Our proposed thesis concerns the development and creation of an operational

framework for a multi-robot system which would allow it to navigate and, consequently,
operate efficiently in a real-world environment. Though the concept may seem largely
theoretical in nature, the framework we aim to develop should be sufficiently dynamic
and adaptible in nature so as to allow for a wide array of possible applications.

The framework will consist of three distinct groups of entities: (1) the
agents/robots, (2) their "leader" entity, and (3) and external director. For the system to be
readily adaptible, the roles of each individual robot will not be hardcoded or
predetermined. Initially, the robots are free to operate based on their primitive hardcoded
mechanisms (i.e., collision-avoidance mechanisms, the option to power down sensors that
are not currently being used, etc.) However, when an instruction or task set is passed by
the external director, the robots will immediately start processing this instruction or task
set, modeling its behaviors to correspond with it. Each robot then transmits this task to its
leader entity in order to verify its role. The leader entity also receives a set of instructions
determining how it must respond to the data sent by each robot, as well as its role as the
organizer of the bigger task. With the system all set, the robots will then begin to perform
their roles and periodically report their progress to their "leader" entity.

Our primary goal is a multi-robot system capable of operating efficiently in both

static and dynamic, indoor and outdoor environments. As such, our thesis would be
focusing on the following aspects of this system:
 The simplicity and ruggedness of the design of the robots
 Their navigational and localization systems
 The intercommunication framework between the different entities

The system itself will be applied to a custom-designed fleet of aquatic robots which will
be able to sail around and gather data in a lake environment. For the time being,
temperature sensors will be the primary data-gathering tool carried by these robots.
Depending on the time and financial constraints, the robots may also carry a simplified
dissolved oxygen sensor and a low-cost, low-power camera of sorts in the future.
The design of the robots will either follow a simple boat-like design, or follow a more
submarine-like design. The boat design would be the simplest implementation for the
robot, requiring only the following:
• two motors
o for steering
• a wireless communications module
o for establishing contact with the leader entity or other nearby robots
• sonar proximity sensors
o for collision avoidance with surface obstacles
• an on-chip accelerometer and gyroscope [1]
o for navigation
• the microprocessor module
o to operate the robot itself
• a retractable tow line with the temperature sensor at the end
o for measuring the water temperature at different depths
o might be a draw back since this would require a separate motor as well as
run the risk of losing the temperature sensor
The submarine-type design is a bit more complicated:
• unique design considerations*
o low drag structural design
o waterproof!
o neutrally buoyant frame and/or structure
 otherwise, failure in the midst of operation would
mean that the robot will sink to the bottom of the lake
OR it will have a harder time attaining lower depths
o fins and rudders
• one motor
o for driving the robot forwards
• two stepper motors
o to control the fins and the rudder
• a wireless communications module
o for establishing contact with the leader entity or other nearby robots
• sonar proximity sensors
o for collision avoidance
• an on-chip accelerometer and gyroscope [1]
o for navigation
• the microprocessor module
o to operate the robot itself
• an onboard temperature sensor
o for measuring the water temperature at different depths
[1] Due to the possibility of constant drift due to both surface waves and underwater
currents, a simple inertial navigation system will also be developed using a combined on-
chip accelerometer and gyroscope. This will allow the robots to keep track of their
locations through a relatively accurate "dead reckoning" method.

Updates:

For the time being, we have borrowed an arduino board, an Xbee shield and an
accelerometer. We plan on using Zigbee as the wireless communication network for the
robot to PC communication and robot to robot communication. The accelerometer will
used for monitoring the boat’s condition and keep track of it. Both the xbee shield and
accelerometer will be mounted on the arduino. The arduino will also be the control
system of the robot.