OfftheShelf Distributed Robots Cots Bots Sarah Bergbreiter K

Off-the-Shelf Distributed Robots (Cots. Bots) Sarah Bergbreiter K. S. J. Pister KSJP 1 2 Objectives • Use off-the-shelf components to develop inexpensive and modular robots • Research distributed robot algorithms such as mapping and exploration that may eventually be ported to microrobots (KSJP 4) BSAC © 2003 Fall IAB. Confidential Information. Not to be made public without permission from UC Regents.

KSJP 1 2 Cots. Bots: Current Generation Mica Mote Mica Software Bus Interface Motor. Board Software Architecture RC Car Platform Motor. Board Hardware Architecture BSAC © 2003 Fall IAB. Confidential Information. Not to be made public without permission from UC Regents.

Cots. Bots Localization: Photo. Beacon Concept • Triangulation v. Trilateration • Use light/lens/detector system on each robot to determine relative angles • Design an IC with ~1 o resolution and 5 -10 m ranges with conventional off-the-shelf LEDs • IC should be computationally simple • Additional benefits of optical communication and obstacle detectiona d b Fisheye Lens KSJP 1 2 High Power LED Photo. Beaco n IC g BSAC © 2003 Fall IAB. Confidential Information. Not to be made public without permission from UC Regents.

KSJP 1 2 Cots. Bots Localization: System Architecture Low divergence, high power LEDs LED 5 o Len s 190 o field-ofview lens Photodiodes in circular array . . . 256 x 1 Analog Mux . . Differential Analog Output Photo. Beacon IC (detector) Programmable Gain Amplifier (KSJP 20) 3 -wire bus BSAC © 2003 Fall IAB. Confidential Information. Not to be made public without permission from UC Regents.

KSJP 1 2 Cots. Bots Localization: Photo. Beacon IC 3 -wire bus Multiplexer Blocks 1. 3 m m ~4 m m 1. 8 m m Modified KSJP 20 Optical Receiver 256 Photodiodes BSAC © 2003 Fall IAB. Confidential Information. Not to be made public without permission from UC Regents.

Cots. Bots Applications: Robot Diffusion KSJP 1 2 Robots begin centered in a 10 ft x 10 ft area. Each robot is equipped with a buzzer, microphone, and radio. Conceptual Vision of Robot Diffusion – could be used for mapping or maximal sensor network coverage Each robot beeps in turn and those robots that can hear the beep move forward a distance x. After several iterations, the robots will spread out as shown. BSAC © 2003 Fall IAB. Confidential Information. Not to be made public without permission from UC Regents.