Swarm-dular quadcopter: bringing swarm robotics and modular robotics together

  • Authors

    • Deepak Mohan
    • K R. Guruprasad
    https://doi.org/10.14419/ijet.v7i2.21.11828

    Received date: April 21, 2018

    Accepted date: April 21, 2018

    Published date: April 20, 2018

  • .

  • Abstract

    In this paper, we present a new concept in robotics, which we call as swarm-dular robotics, by bringing together swarm robotics and modular robotics. We propose a swarm-dular quadcopter, which is a  modular  quadcopter, where, multiple wheeled  ground robots (AGVs), which  are part of a heterogenous swarm or  multi-robotic(agent) system (MRS or MAS), attach/dock  together to form an aerial quadcopter robot. We provide a conceptual design and demonstrate the proposed system using simulation experiments in  Robot Operating System (ROS). Behavior of the system as both a swarm and a modular quadcopter UAV are demonstrated.

  • References

    1. Fukuda T & Kawauchi Y, “Cellular robotic system (CEBOT) as one of the realization of self-organizing intelligent universal manipulator”, Proc of IEEE International Conference on Robotics and Automation, Vol.1, (1990), pp.662–667.
    2. Gilpin K & Rus D, “Modular robot systems”, IEEE Robotics Automation Magazine, Vol.17, No.3, (2010), pp.38–55.
    3. Moubarak P & Ben-Tzvi P, “Modular and reconfigurable mobile robotics”, Robotics and Autonomous Systems, Vol.60, No.12, (2012), pp.1648–1663.
    4. Hossain SGM, Nelson CA & Dasgupta P, “Hardware design and testing of modred: A modular self-reconfigurable robot system”, Advances in Reconfigurable Mechanisms and Robots I, (2012), pp. 515-523.
    5. Oung R, Bourgault F, Donovan M & D’Andrea R, “The distributed flight array”, IEEE International Conference on Robotics and Automation, (2010), pp.601–607.
    6. Beni G, “From swarm intelligence to swarm robotics”, International Workshop warm Robotics, (2004), pp.1–9.
    7. Gross R, Tuci E, Dorigo M, Bonani M & Mondada F, “Object transport by modular robots that self-assemble”, Proc of IEEE International Conference on Robotics and Automation, (2006), pp. 2558–2564.
    8. Kawakami A, Torii A, Motomura K & Hirose S, “SMC rover: planetary rover with transformable wheels”, Proceedings of the 41st SICE Annual Conference, Vol.1, (2002), pp.157–162.
    9. Adams SM & Friedland CJ, “A survey of unmanned aerial vehicle (UAV) usage for imagery collection in disaster research and management”, 9th International Workshop on Remote Sensing for Disaster Response, (2011).
    10. Guruprasad KR & Ghose D, “Automated multi- agent search using centroidal Voronoi configuration”, IEEE Transactions on Automation Science and Engineering, Vol.8, No.2, (2011), pp.420–423.
    11. Sujit PB & Ghose D, “Search using multiple UAVs with flight time constraints”, IEEE Trans. on Aerospace and Electronic Systems, Vol.40, No.2, (2004), pp.491–509.

  • Downloads

  • How to Cite

    Mohan, D., & R. Guruprasad, K. (2018). Swarm-dular quadcopter: bringing swarm robotics and modular robotics together. International Journal of Engineering and Technology, 7(2.21), 20-23. https://doi.org/10.14419/ijet.v7i2.21.11828