Robotics,image Processing,artificial Intelligence

Nowadays communication is a part of development of technology. So we determined to work on robotics and reduce the routine of human being and lift up opulence of their life. It deals with the design, creation, process and application of robots as well as computer system for their control. The proposed follower robot is an electronic system that can detect and follow the line. Generally, the line specifies a predefined path that can be either visible like a black line on a white surface with a high contrasted color using IR Array Sensor. This robot is used to decide the shortest path out of other long distance paths at the time of travelling. In this project perfect path is identified for solving the single source shortest path problem like Bellman ford Algorithm. A proximity sensor has been attached to the robot so that it can detect any obstacle in its ways.

The main purpose of this project initiative is to design a remotely controllable Robot prototype that can detect live humans and transmit the location details wirelessly. It can also be used in war fields and places where disaster has occurred. Human detection is also required in hazardous sectors like boilers, reactors where only authorized person can enter. The live body detection is performed by a biomedical unit that comprises mainly of a temperature sensor combined with a pulse detector. Any alive body with a temperature above absolute temperature is measured tentatively. It senses these pulse variations in the given subject body with the help of a robotic arm with attached clipping mechanism for effective and reliable operation. Human identity is also carried using a wireless camera module. The remotecontrol unit is used to provide interconnectivity between the robot and human operator and the on-bot camera is used to detect the motion in any kind and will inform to micro cont...

This article presents a high-level configuration and task assignment software package that distributes algorithms on a swarm of robots. The software allows the robots to operate in a swarm fashion. When the swarm robotic system adopts a decentralized approach, the desired collective behaviors emerge from local decisions made by the robots themselves according to their environment. Using its GUI, the proposed system expects the operator to select between several available robot agents and assign the swarm of robots a particular task from a set of available tasks.

Research in the area of cooperative multi-agent robot systems has received wide attention among researchers in recent years. The main concern is to find the effective coordination among autonomous agents to perform the task in order to achieve a high quality of overall performance. Therefore, this paper reviewed various selected literatures primarily from recent conference proceedings and journals related to cooperation and coordination of multi-agent robot systems (MARS). The problems, issues, and directions of MARS research have been investigated in the literature reviews. Three main elements of MARS which are the type of agents, control architectures, and communications were discussed thoroughly in the beginning of this paper. A series of problems together with the issues were analyzed and reviewed, which included centralized and decentralized control, consensus, containment, formation, task allocation, intelligences, optimization and communications of multi-agent robots. Since the research in the field of multi-agent robot research is expanding, some issues and future challenges in MARS are recalled, discussed and clarified with future directions. Finally, the paper is concluded with some recommendations with respect to multi-agent systems.

Autonomous service robots are one of the most demanding and emerging fields of robots with the advancement of technology in real-time scenarios. This paper proposes wireless communication-based autonomous navigation of robots under the direction of a master robot. The interaction between the robots is accomplished by the use of a Bluetooth module, as well as the master robot's self-exploration and self-navigation mechanisms. At every instant of time, the slave robots check the position of the master and travel in accordance with the direction of the master robot. Ultrasonic sensors, FPGA and Stepper motors were used to create the robots. Verilog is being used to create the design, which is then deployed on a Field Programmable Gate Arrays (FPGA), Zedboard Zynq®-7000 SoC for robot control. It has been successfully implemented using the Xilinx Vivado 2017.4 simulator. This design can be utilized for shifting commodities as well as certain domestic uses.

This work discusses the compression objects ratio for Macromedia Flash File (SWF) Image by Wavelet functions for compression and there effect for Macromedia Flash File (SWF) Images compression. We discusses classification objects in Macromedia Flash (SWF) image in to nine types objects Action, Font, Image, Sound, Text, Button, Frame, Shape and Sprite. The work is particularly targeted towards wavelet image compression best case by using Haar Wavelet Transformation with an idea to minimize the computational requirements by applying different compression thresholds for the wavelet coefficients and these results are obtained in fraction of seconds and thus to improve the quality of the reconstructed image. The promising results obtained concerning reconstructed images quality as well as preservation of significant image details, while, on the other hand achieving high compression rates and better image quality while DB4 Wavelet Transformation higher compression rates ratio without kept for image quality .

Robotic Systems have become an important part of our lives by entering many fields. The most important topics they were on are, Homeland Security, Labor and Human Safety. The topic of this paper is design of a four-wheeled and Bluetooth controlled search & rescue robot which was designed at Solidworks and 3-D printed. Designed robot is controlled by Arduino UNO, Motor Control Shield, Bluetooth Shield and a mobile app. By using proximity sensor, it was intended to make robot avoid collision. Motor speed parameter that was sent to Arduino was calculated by Linear Interpolation.

The requirements of a mobile robot to be used as part of a swarm robotic system differs from that of a mobile robot to be used as stand-alone. In this paper, we first provide a wishlist of requirements that would be sought for in mobile robot platforms to be used in swarm robotics research. Then, we describe Kobot, as a new mobile robot platform which is designed to satisfy as much of these requirements. Specifically, we first describe in detail, an infrared-based short-range sensing system that can make proximity measurements with minimal interference from environmental lighting conditions as well as from other robots. The performance of the system, is evaluated with systematic experiments. Then, we present an IEEE802.15.4/ZigBee-based communication system, which is used to develop a system, that can wirelessly program robots either one-by-one or in parallel. Finally, we provide snapshots from the flocking of a Kobot robotic swarm. The paper, reviews and evaluates existing robot platforms that are developed for, or being used in, swarm robotics research in comparison with the Kobot platform and concludes.

Natural calamities do occur and they are unstoppable. But humans are becoming increasingly aware in the concept of intelligent rescue operations in such calamities so that precious life and material can be saved though calamities cannot be stopped. Still there are lots of disasters that occur all of a sudden and Earthquake is one such thing. Earthquakes produce a devastating effect and they see no difference between human and material. Hence a lot of times humans are buried among the debris and it become impossible to detect them. A timely rescue can only save the people who are buried and wounded. Detection by rescue workers becomes time consuming and due to the vast area that gets affected it becomes more difficult. So the project proposes an autonomous robotic vehicle that moves in the earthquake prone area and helps in identifying the alive people and rescue operations. SOFTWARE TOOLS: 1. MPLAB IDE-For controller programming 2. Or CAD-For circuit design 3. Eagle-For PCB design 4. Visual Studio for PC interface programming.

Hardware, firmware and software design of a mobile robot capable of transmitting video information and receiving commands from a controlling point is presented. The hardware design is composed of a PIC18F4620 microcontroller, a UCC27525 MOSFET gate driver, XBee Series 2 OEM RF Module. Firmware design includes the reception, processing and decoding of Zigbee API packets. Based on this decoded information the microcontroller will generate signals to move the motors namely left and right motors with a corresponding direction, either clockwise of counter clockwise. The software part includes the graphical user interface which generates commands sent to the mobile robot. The images from the mobile robot are sent to the central controller. The images are then processed and a command is generated. The command is formatted in API format and then sent to the mobile robot. Testing of the system is done by experimentation. Three parameters are tested which are influenced by four parameters. Image recognition is measured while varying the distance. Also image recognition is measured while varying the luminance of the environment. The received signal level is measured while varying the distance. Lastly the accuracy of the movement of the mobile robot is also measured while varying the target position. The results showed that the distance used by the researcher has no significant effect on image recognition. The results showed also that image recognition is unaffected with the luminance of 230-1590 lumens. The mobile robot will respond in an optimum range of one meter and can respond from one to ten meters.

Hardware, firmware and software design of a mobile robot capable of transmitting video information and receiving commands from a controlling point is presented. The hardware design is composed of a PIC18F4620 microcontroller, a UCC27525 MOSFET gate driver, XBee Series 2 OEM RF Module. Firmware design includes the reception, processing and decoding of Zigbee API packets. Based on this decoded information the microcontroller will generate signals to move the motors namely left and right motors with a corresponding direction, either clockwise of counter clockwise. The software part includes the graphical user interface which generates commands sent to the mobile robot. The images from the mobile robot are sent to the central controller. The images are then processed and a command is generated. The command is formatted in API format and then sent to the mobile robot. Testing of the system is done by experimentation. Three parameters are tested which are influenced by four parameters. Image recognition is measured while varying the distance. Also image recognition is measured while varying the luminance of the environment. The received signal level is measured while varying the distance. Lastly the accuracy of the movement of the mobile robot is also measured while varying the target position. The results showed that the distance used by the researcher has no significant effect on image recognition. The results showed also that image recognition is unaffected with the luminance of 230-1590 lumens. The mobile robot will respond in an optimum range of one meter and can respond from one to ten meters.

In this paper , we propose an efficient and effective method for Edge detection for objects in the upper triangle Gray Scale Image. The optimal Edge detection discriminative features of gray scale images are obtained by performing Cholesky decomposition , which could be implemented using the edge existing algorithm. We approach also yields the size of the symmetry region without additional computational effort. Experiments showed that the proposed algorithm could generate a path one pixel wide with continuous edges, and the proposed algorithm had a better edge-detection accuracy than others techniques. Therefore, the proposed edge-detection algorithm is feasible for use in automatic visual inspection systems .

Inter-robot communication can be an issue, especially, if the task at hand entails carrying equipments or in the places where human safety is of great concern such as in nuclear zones, mines, etc.,. In the present work considered, it has been concentrated on designing of a interactive robot communication system between four small indigenously designed robots, using a new type of technique called as the centralized and decentralized design, which can be used for the efficient completion of the task. Different communication systems, for both types of coordination depending on the distance of communication, are designed and proposed. For the centralized system, Frequency Division Multiplexing (FDM) is used and for the decentralized system, a new transceiver is being designed for better wireless communications is used. The inter-robot communication system was being taken up as a consultation project by the institute.

The requirements of a mobile robot to be used as part of a swarm robotic system differs from that of a mobile robot to be used as stand-alone. In this paper, we first provide a wishlist of requirements that would be sought for in mobile robot platforms to be used in swarm robotics research. Then, we describe Kobot, as a new mobile robot platform which is designed to satisfy as much of these requirements. Specifically, we first describe in detail, an infrared-based short-range sensing system that can make proximity measurements with minimal interference from environmental lighting conditions as well as from other robots. The performance of the system, is evaluated with systematic experiments. Then, we present an IEEE802.15.4/ZigBee-based communication system, which is used to develop a system, that can wirelessly program robots either one-by-one or in parallel. Finally, we provide snapshots from the flocking of a Kobot robotic swarm. The paper, reviews and evaluates existing robot platforms that are developed for, or being used in, swarm robotics research in comparison with the Kobot platform and concludes.

Natural calamities do occur and they are unstoppable. But humans are becoming increasingly aware in the concept of intelligent rescue operations in such calamities so that precious life and material can be saved though calamities cannot be stopped. Still there are lots of disasters that occur all of a sudden and Earthquake is one such thing. Earthquakes produce a devastating effect and they see no difference between human and material. Hence a lot of times humans are buried among the debris and it become impossible to detect them. A timely rescue can only save the people who are buried and wounded. Detection by rescue workers becomes time consuming and due to the vast area that gets affected it becomes more difficult. So the project proposes an autonomous robotic vehicle that moves in the earthquake prone area and helps in identifying the alive people and rescue operations. SOFTWARE TOOLS: 1. MPLAB IDE-For controller programming 2. Or CAD-For circuit design 3. Eagle-For PCB design 4. Visual Studio for PC interface programming.

This paper deals with the design of a battery operated Mobile Robot with various modes of its control. The Mobile Robot can be operated in three different modes, namely Dual Tone Multi Frequency (DTMF), Radio Frequency Input Devices (RFID) and laptop control with ZigBee technique, thereby enabling a multi-dimensional control system. The Mobile Robot is a single seated carrier and can also be used to transport substantial amount of physical load for short distances. It is a prototype of a multi-use robot having a wide range of applicability according to the requirement after suitable modifications. There are four microcontrollers used in this mobile robot. The input to microcontroller sent via the devices like cellphone, RFID and laptop. Thus it can be easily applied inside a hospital to carry patients, as a wheel chair for physically challenged people, to carry goods in large shopping malls, as golf cars, can also be used for industrial purposes with adequate modifications. It uses a DC power source and not any conventional energy sources. Hence it is ecofriendly and this Mobile Robot can be termed as an advancing step in the field of mobile robot.

This paper presents deployment strategies of ultrasonic sensors and a way of using Smartphone sensors to help mobile robot navigation in indoor environments. There are critical needs for cost-effective, reliable, and fairly accurate solutions to meet the demands of indoor robotic applications. Ultrasonic sensors have been popular in detecting simple objects due to the low-cost and simplicity despite their limitations. We propose an efficient way of deployment of ultrasonic sensors for low-cost mobile robots. A Smartphone has many high performance sensors that can be utilized to navigate and localize mobile robots. The sensors include a camera, a gyroscope, and an accelerometer. We analyzed the use of orientation sensor of a Smartphone and compared its performance to a conventional approach. The comparison results were promising. The combination of the efficient way of the sensor deployment and the use of Smartphone sensors shows a possibility of developing a low-cost indoor mobile robotics platform for college education and robotics research laboratories.

As physical and digital worlds are merging it is changing the dynamics of the industries in India. The German Academy of Science and Technology coined the term fourth industrial revolution (Industry 4.0) changing the industrial process dramatically with automation and robotic technology at rising. With the advancement of robotics technology, the complexities are also increasing which has led to the development of one of the strong arms of the technologies of the industrial revolution-Swarm-robotics. Swarm intelligence take its inspiration from social animals and display the concept of collective behavior. With simple hardware architecture, high feasibility, cost efficiency, robustness; it comes out as a very user-friendly technology which is fit for the industrial applications where depending on a single robot for the accomplishment of a task is not possible. The only challenge this multi-robot technology faces is to establish an efficient communication system between them to ensure proper coordination, communication, and routing. ZigBee technology was thus proposed as a solution as it fits perfectly with the features of swarm robotics and improves the efficiency of the mobile robots.

The field of swarm engineering is a growing area of research. The aim of swarm engineering is to design multi-robot platforms that are able to mimick biological robot swarms in performing tasks where a cluster of robots can excel better than just one. In designing large robot swarms, cost plays an important role. In this paper we attempt to develop a low cost autonomous platform that is modular in design. This allows the system to be expanded or extended as and when necessary. By using a limited amount of sensors and without direct communication between each platform, we are able to simulate and demonstrate a number of behaviours.

The main aim of this embedded application is to design a PC controlled Robot which can detect live humans and transmit the location details wirelessly. It can also be used in war fields and places where disaster has occurred. Human detection is also required in hazardous sectors like boilers, reactors where only authorized person can enter. The live body sensor in this project is a special type of sensor known as PIR sensor. Any alive body with a temperature above absolute temperature emits radiations which are invisible to the normal eye. It senses these passive infrared rays to detect the live human. Human identity is carried out using a Human live detection sensor. The PIR sensor is used to detect the motion in any kind and will inform to micro controller. In this project we are using GSM based wireless system for the efficient communication. If the micro controller unit receives the detected signal, it will send a message through GSM modem. The GPS receiver receives the Longitudinal and latitudinal value when the system detects the movement of the human body it sends the location details to the stations using GSM modem.

Through this project it is intended to demonstrate the design and development of a robot that is capable of following different routes as well as detecting obstacles and performing various stops. To fulfill the objective of the project an embedded system and Labview software were used.

Face Recognition Building new system for (face recognition problem).A system based on the integration of the following methods: _ SVD, which is used to extract three matrices, one of these matrices depends on the rows and the other on the columns and the last on the rows and columns together. The three previous matrices are considered to derive image properties. The second way is to convert the image to a single matrix. It depends on the angle. Which makes it convert the database into base properties (the person's term varies and varies with the other)? And then use a new equation for the classification. As for discrimination, it depends on the similarity that has been modified and the correlation which has also been modified by a certain threshold. We use the latest method to compile The previous methods are integrated into a new system in order to work in an integrated manner and the task of distinguishing is very excellent.

Inter-robot communication can be an issue, especially, if the task at hand entails carrying equipments or in the places where human safety is of great concern such as in nuclear zones, mines, etc.,. In the present work considered, it has been concentrated on designing of a interactive robot communication system between four small indigenously designed robots, using a new type

This work discusses the compression objects ratio for Macromedia Flash File (SWF) Image by Wavelet functions for compression and there effect for Macromedia Flash File (SWF) Images compression. We discusses classification objects in Macromedia Flash (SWF) image in to nine types objects Action, Font, Image, Sound, Text, Button, Frame, Shape and Sprite. The work is particularly targeted towards wavelet image compression best case by using Haar Wavelet Transformation with an idea to minimize the computational requirements by applying different compression thresholds for the wavelet coefficients and these results are obtained in fraction of seconds and thus to improve the quality of the reconstructed image. The promising results obtained concerning reconstructed images quality as well as preservation of significant image details, while, on the other hand achieving high compression rates and better image quality while DB4 Wavelet Transformation higher compression rates ratio without kept for image quality .

This article presents a high-level configuration and task assignment software package that distributes algorithms on a swarm of robots which allows them to operate in a swarm fashion. When the swarm robotic system adopts a decentralized approach, the desired collective behaviors emerge from local decisions made by the robots themselves according to their environment. This paper first brings a discussion on the existing swarm control environments. Secondly it proposes a software application that aims to facilitate the deployment of multiple robotic agents which have different configurations and sensory components. Using its GUI, the proposed system expects the operator to select between several available robot agents and assign the group of robots a particular task from a set of available ones. The main purpose for designing this framework is to reduce the time and complexity of the development of robotic software and maintenance costs, and to improve code and component reusability.

In this paper we described the hardware architecture of an inexpensive, heterogeneous, mobile robot swarm, designed and developed at RISC lab, University of Bridgeport. Each UB robot swarm is equipped with sensors, actuators, control and communication units, power supply, and interconnection mechanism. Robot swarms have become a new research paradigm in the last ten years offering novel approaches, such as self-reconfigurabity, self-assembly, self-replication and self-learning. Developing a multi-agent robot system with heterogeneity and larger behavioral repertoire is a great challenge. This robot swarm is capable of performing user defined tasks such as wall painting, mapping, human rescue operations, task allocation, obstacle avoidance, and object transportation.

The user has requested enhancement of the downloaded file. All in-text references underlined in blue are added to the original document and are linked to publications on ResearchGate, letting you access and read them immediately. UB Robot Swarm – Design, Implementation, and Power Management Abstract— In this paper we describe the hardware architecture of an inexpensive, heterogeneous robot swarm, designed and developed at the RISC lab, University of Bridgeport. Each swarm robot is equipped with sensors, actuators, control and communication units, power supply, and interconnection mechanism. This article also describes the essential features and design of a power distribution and management system for a dynamically reconfigurable system. It further presents the empirical results of the proposed power management system collected with the real robotic applications.

A hybrid measure is proposed for assessing the similarity among gray-scale images. The well-known Structural Similarity Index Measure (SSIM) has been designed using a statistical approach that fails under significant noise (low PSNR). The proposed measure, denoted by SjhCorr2, uses a combination of two parts: the first part is information -theoretic, while the second part is based on 2D correlation. The concept of symmetric joint histogram is used in the information-theoretic part. The new measure shows the advantages of statistical approaches and information-theoretic approaches. The proposed similarity approach is robust under noise. The new measure outperforms the classical SSIM in detecting image similarity at low PSNR under Gaussian and impulse noise, with significant difference in performance.

Those of us of a certain vintage can recall the uproar stirred by the ideas put forth in Michael Hammer and James Champy’s Reengineering the Corporation. Originally published in 1993, the authors argued that operational improvement should not be limited to incremental gains of 10 percent or 20 percent, but rather should aim for a “quantum leap in performance – the 100 percent or even tenfold improvements that can follow from entirely new work processes and structures.”

Building a mobile robot basing just on microcontroller makes the implementation of artificial intelligent approaches, very powerful navigation strategies and computational methods very hard if we don't say impossible. Hence, building a mobile robot microprocessor based platform is very critical. Thus, during this project, a Raspberry card will be used to build a mobile robot able to navigate in indoor dynamic environment. The obstacle avoidance and path planning approaches will be implemented on the Raspberry microprocessor; however, the motors will be controlled via a PIC microcontroller.

The TinyTeRP is a small, low-cost, modular robotics platform used to study robot sensing and control in large numbers of miniature robots. A fully assembled TinyTeRP costs approximately $50, is 1.7 x 1.8 x 2 cm 3 , and can move at speeds up to 50 cm/s. The robot is designed around a wheeled platform onto which different circuit boards can be stacked providing hardware modularity. The base module integrates a microcontroller with an 802.15.4 radio used for both sensing and communication between robots. An inertial sensing module used to improve single robot control is provided as an example of an additional sensing board. A simple 'rendezvous' algorithm using received signal strength indicator (RSSI) data from the radio illustrates a distributed control algorithm with the TinyTeRP.

In this paper we develop a framework based on disjunctive programming for motion planning of robotic networks. Although the methodology presented in this paper can be applied to general motion planning problems we focus on coordinating a team of mobile routers to maintain connectivity between a fixed base station and a mobile user within a walled environment. This connectivity management problem is decomposed into three steps: (i) a feasible line-of-sight path between the base station and the mobile user is computed; (ii) the number of required routers and their goal locations are determined; and (iii) the motion planning with obstacle and inter-vehicle collision avoidance problem is solved. The mixed-integer optimization problems are solve using CPLEX. Simulation results show the applicability of the proposed strategy.

This paper addresses a flexible cooperative navigation system for small robot teams. The members of these groups move in formation, but with enough flexibility to be able to avoid obstacles and adapt to the environment shape. This approach is based on an analysis of the environment on a gridbased model that permits each robot to continuously evaluate the situation in which it is, in order to decide the best of the three developed navigation strategies, one for each situation type. Moreover, by using this model the robot cooperation for a coordinate navigation is improved, allowing each robot to share the observations with the other robots. So the field of view of each robot of the team on which it makes the decisions is enlarged. The system is implemented in a decentralized way so the number of robots is not a main issue, thus being scalable. Eventually, initial formation topology can be modified, in order to comply with the environment while the mission is accomplished. The system and the strategies are evaluated by means of simulations, showing the robustness against possible blocking situations.

Citation: Alpaslan YUFKA and Oğuzcan DOBRUCALI, "Indoor Localization System for Mobile Robots", An Engineering Synthesis and Design Project Report, Bachelor of Science in Electrical Engineering, Eskişehir Osmangazi University, June 2008.

Abstract in English: Localization is one of the main fundamental problems in manipulation of mobile robots, since it is useful for a mobile robot not only for navigation, but also for achieving some tasks. In this project, an indoor localization system is designed and implemented to inform mobile robots about their positions and orientations by using overhead cameras. This proposed system is composed of localization and communication modules, which are based on image processing and local area network tools.

Abstract in Turkish: Gezgin robotların konumlandırılması hem robotların idaresinde hem de robotların görevlerini yerine getirmesinde gereklidir ve günümüzde önemli sorunlardan biridir. İç ortamlar için tasarladığımız ve uyguladığımız konumlandırma sisteminde, gezgin robotlar konumlarını tepe kameralar sayesinde edinirler. Önerdiğimiz bu sistem konumlandırma ve iletişim kısımlarından oluşur; bu kısımlar görüntü işleme ve yerel ağ iletişim araçlarını kullanırlar.

Related papers are "Image Based Localization System for Mobile Robots (Gezgin Robotlar için Görüntü Tabanlı Konumlandırma Sistemi)" and "Multi-Camera Localization System for Mobile Robots (Gezgin Robotlar için Çok Kameralı Konumlandırma Sistemi)".

Thanks to advances in both computer science and engineering, the divide between robotics and multi-agent systems is shrinking. Robots are capable of performing an ever wider range of tasks, and there is an increasing need for solutions to high-level problems such as multi-agent coordination. In this paper we examine the problem of finding a robust exploration strategy for a team of mobile robots that takes into account communication limitations. We propose four performance metrics to evaluate and compare existing multi-robot exploration algorithms, and present a role-based approach in which robots either act as explorers or as relays. The result is a complete exploration of the environment in which information is efficiently returned to a central command centre, which is particularly applicable to the domain of rescue robotics.

The  QuickBot  mobile  robot  is  presented  in  this
paper, with main aim to be educational and research experimental tool for robotics application in multi robot scenarios. The main idea was  to  use  fairly  cheap,  easy  to  build,  differential  drive  robot capable  to  use  in  student  courses  in  order  to  apply  the  theory  of mobile  robot  to  a  real  indoor  environment.  The  hardware components  of  Quikbot  (two  wheels,  two  motors  with  a  wheel encoders,  embedded  Linux  computer,  the  BeagleBone  processor
board,  5  infrared  (IR)  range  sensors)  are  analysed  and  described. The  second  important  idea  for  using  QuickBot  is investigation the cooperation of several  robot  units and the possibility of obtaining a collaborative behavior by decentralized  control algorithms. This idea by using MATLAB software is described by single robot  behaviors and complex collective leader-follower algorithms.

Hardware, firmware and software design of a mobile robot capable of transmitting video information and receiving commands from a controlling point is presented. The hardware design is composed of a PIC18F4620 microcontroller, a UCC27525 MOSFET gate driver, XBee Series 2 OEM RF Module. Firmware design includes the reception, processing and decoding of Zigbee API packets. Based on this decoded information the microcontroller will generate signals to move the motors namely left and right motors with a corresponding direction, either clockwise of counter clockwise. The software part includes the graphical user interface which generates commands sent to the mobile robot. The images from the mobile robot are sent to the central controller. The images are then processed and a command is generated. The command is formatted in API format and then sent to the mobile robot. Testing of the system is done by experimentation. Three parameters are tested which are influenced by four parameters. Image recognition is measured while varying the distance. Also image recognition is measured while varying the luminance of the environment. The received signal level is measured while varying the distance. Lastly the accuracy of the movement of the mobile robot is also measured while varying the target position. The results showed that the distance used by the researcher has no significant effect on image recognition. The results showed also that image recognition is unaffected with the luminance of 230-1590 lumens. The mobile robot will respond in an optimum range of one meter and can respond from one to ten meters.

A robot is an automatically controlled, reprogrammable, multipurpose device which may be either fixed in place or mobile for use in automation applications. The objective of this paper is to design a robot which can be controlled from a central monitoring console. The operator at the central monitoring console is provided with the blueprint of a building and he chooses the path to be traced by the robot. It is sent through a wireless interface which is received by the robot. In addition to this, the operator is provided with a visual feedback from the robot with the help of a high resolution camera. This will help the operator to know about the obstacles in the surroundings and control the vehicle accordingly.

This paper will discuss the implementations and limitations of an ultrasonic sensor. The primary goal of this sensor will be to monitor user presence by measuring the distance of an object from the sensor. Within this, the ultrasonic sensor will send a serial signal through a driver/receiver to a computer to enhance information density. This particular methodology for ultrasonic sensors will be investigated in different applications. This paper will explore primary communications between the PC and the sensor, the restrictions that ultrasonic sensors face when measuring distance, and the most commonly used applications for this particular scheme.

Abstrak. Multi-agent system is one the most popular research interests in robotics nowadays. Imagine for a swarm of robots, what kind of intelligence can we build now? This question arises from emulating biological systems. How is it that colonies of small ants can work together to perform a difficult task that single ant cannot do it alone? How might collections of simple robots aid us in human endeavours? By examining these questions, one of the common characteristics shared by each agent is in agent simplicity. Simplicity in control means that the robots are provided with direct commands in order to execute the action. It doesn't need to gather all information from various sensors to plan its action like deliberative control which is also known as sensors fusion that clearly required a lot of computational time and also the mapping that its produces might not valid at the time when changes occurs between the time it gathers the information and the time it plans its actions. Instead, intelligence will arise when these simple agents work together to perform some complex task cooperatively. By examining the major control architectures available in robotics area, subsumption-based reactive control architecture gives the tools as required. Priority-based scheme is used in arbitration level to select which behaviour to run. In this paper decentralised reactive control architecture was used to justify the communication based simple control architecture can perform complex task like carrying load and navigate.

in Reactive robotic system, behaviors serves as the basic building block for robotic actions. A reactive control system tightly couples perception to action without the use of intervening abstract representations or time history. A simple wheeled vehicle is easy in mechanical design, controlling, and the construction part. But it doesn't work efficiently in all kind of surface. On a rough terrain, it performs poorly. The radius of a wheel could pass only a certain height of obstacle. To pass most of the obstacle that it meets, larger wheel radius need to be designed. In this paper the design & implementation of Subsumption based architecture, a reactive control system for real time obstacle avoidance which is compatible with low cost ultrasonic sensor, infrared sensors and fast enough to be implemented using microcontroller based development board is introduced with a legged robot.

Multi-agent robotic systems are autonomous, heterogeneous, persistent computing entities that interact with the environment through sensing, effecting, communicating and coordination of operations with each other. Multi-agents must cope with limited computational resources, uncertainty and limited knowledge of the environment. They perform tasks locally by interacting with each other to help in quick completion of tasks [1]. This critically written report presents findings on the investigative research of UTM multi-agent robotic systems and suggests possible improvements that could be done on the agents. Our findings focused on their comparative behaviours, control strategy, hardware, experimental capabilities, method of communication and frontier issues in multi-agent robotic systems. The steps taken in performing this research are hardware investigation, performance monitoring, consultation of resource persons and study of journal papers and theses.

Natural calamities do occur and they are unstoppable. But humans are becoming increasingly aware in the concept of intelligent rescue operations in such calamities so that precious life and material can be saved though calamities cannot be stopped. Still there are lots of disasters that occur all of a sudden and Earthquake is one such thing. Earthquakes produce a devastating effect and they see no difference between human and material. Hence a lot of times humans are buried among the debris and it become impossible to detect them. A timely rescue can only save the people who are buried and wounded.

A robot is an automatically controlled, reprogrammable, multipurpose device which may be either fixed in place or mobile for use in automation applications. The objective of this paper is to design a robot which can be controlled from a central monitoring console. The operator at the central monitoring console is provided with the blueprint of a building and he chooses the path to be traced by the robot. It is sent through a wireless interface which is received by the robot. In addition to this, the operator is provided with a visual feedback from the robot with the help of a high resolution camera. This will help the operator to know about the obstacles in the surroundings and control the vehicle accordingly.

Natural calamities do occur and they are unstoppable. But humans are becoming increasingly aware in the concept of intelligent rescue operations in such calamities so that precious life and material can be saved though calamities cannot be stopped. Still there are lots of disasters that occur all of a sudden and Earthquake is one such thing. Earthquakes produce a devastating effect and they see no difference between human and material. Hence a lot of times humans are buried among the debris and it become impossible to detect them. A timely rescue can only save the people who are buried and wounded.

Natural calamities do occur and they are unstoppable. But humans are becoming increasingly aware in the concept of intelligent rescue operations in such calamities so that precious life and material can be saved though calamities cannot be stopped. Still there are lots of disasters that occur all of a sudden and Earthquake is one such thing. Earthquakes produce a devastating effect and they see no difference between human and material. Hence a lot of times humans are buried among the debris and it become impossible to detect them. A timely rescue can only save the people who are buried and wounded.

This paper describes the design, development and implementation procedures of a swarm-robotics project at the Machine Intelligence Laboratory (MIL) at the University of Florida. The main objective of this work is to develop a multipurpose and powerful platform for the study and improvement of swarm robotics techniques. The first objective is to produce a set of at least eight small expandable (and easily replicated) robots with on-robot sensory and processing abilities, and with a communication system for off-robot sensors and processing. The second goal is the creation of a cross language platform composed of code written in C, C++ and C#; with a well designed objectoriented platform that closely follows the main paradigms and ideas of object-oriented programming techniques. This paper presents the current state of the ongoing project to create a lowcost, reliable, robust, reusable, movable, size-efficient, powersaving, wireless-capable, and dynamically programmable multiuse research project.

Inter-robot communication can be an issue, especially, if the task at hand entails carrying equipments or in the places where human safety is of great concern such as in nuclear zones, mines, etc.,. In the present work considered, it has been concentrated on designing of a interactive robot communication system between four small indigenously designed robots, using a new type of technique called as the centralized and decentralized design, which can be used for the efficient completion of the task. Different communication systems, for both types of coordination depending on the distance of communication, are designed and proposed. For the centralized system, Frequency Division Multiplexing (FDM) is used and for the decentralized system, a new transceiver is being designed for better wireless communications is used. The inter-robot communication system was being taken up as a consultation project by the institute.

Abstract The requirements of a mobile robot to be used as part of a swarm robotic system differs from that of a mobile robot to be used as stand-alone. In this paper, we first provide a wishlist of requirements that would be sought for in mobile robot platforms to be used in swarm robotics research. Then, we describe Kobot, as a new mobile robot platform which is designed to satisfy as much of these requirements.