TE IMM R

FI :LILESOOVO IS I 5 4 P
ERTS ZS8VEEVE S : :T2
RW M ET 4 S 1
U IT0L I 0 5 E E :
8
++D ETMA5LEL S5 < T S H:
AA IER<EGE < T RB
9:RLCMRTTGSG TT E T O A
I
:C H E
ESS F
E M E
NYNNNYYY
F R L
E R0TMC =MP M 3ON
AIPAB =P < P T D
AOSRS0IM<A 1< 4 > : T
NT E1AA ? W W C
PNE ANR2NNN 8 0 5 R
IRIT0DDD 0 5 A A G K
PC&PTNE5 5 ? O
CR E ? R R O
ELR MR?DF D
A E E AD
NUAE OU U
LDP LI
DSPS ET A ProjectC Report on
D D SA
IIPE“DESIGN, DEVELOPMENT AND T STUDY OF SWARM ROBOTS”
D 1
E EG
XOLN I
E SSubmitted
SR by
NIT Avjeet KumarO Singh ()
S IAnshulI A
Kamboj()
CA DeepakN Kumar()
I G GM
AT
G N the
Under Nguidance of
TI Prof. Avinash Patil
N
IO For the partial Fulfillment of
ON TE (Electronics and Telecommunications)2010-2011
N To
Department of Electronics and Telecommunications
S Army Institute of Technology
Dighi Hills, Pune-411015

Under
University of Pune

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 1

 CANDIDATE'S DECLARATION

We hereby declare that this project report titled “Design , Development and Study of Swarn
Robots” submitted towards the completion of BE Project in 8th semester of B.E(E&TC) in
Army Institute of Technology, Pune is an authentic record of our work carried out under the
guidance of Prof. Avinash Patil.

Date:

Place: Pune

Room No. 207D, N.B.H.,Army Inst. Of Tech., Dighi Hills, Alandi Road, Pune - 411015

CERTIFICATE

This is to certify that the above declaration made by Mr. Avjeet Kumar, Mr. Anshul Kamboj
Mr. Deepak Kumar is true to the best of my knowledge and belief.

Date:

Place: Pune

Mr. K. D. Prasad Prof. Avinash Patil

H.O.D. (EnTc) Project Guide

Army Institute of Technology, Pune

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 2

 ACKNOWLEDGMENT

We would like to thank all those who have contributed towards the development and
completion of this project. The help provided by each person was invaluable and necessary
for our progress in the project.

We wish to thank Prof. Avinash Patil for his valuable guidance. His encouragement and
suggestions were instrumental in the completion of this project.

We would also like to thank Prof. Sushma Wadar and Prof. Avinash Patil, who as project
coordinators, did everything they could to provide the students with the necessities of
completing their projects.

We also take this opportunity to extend our gratitude to Prof.(Mr.) K D Prasad and the entire
department of Electronics and Telecommunications for all the help that they provided us with
for the project.

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 3

 ABSTRACT

The research of swarm robotics is to study the design of robots, their physical body and their
controlling behaviour. It is inspired but not limited by the emergent behaviour observed in
social insects, called swarm intelegence. Relatively simple individual rules can produce a
large set of complex swarm behaviour. A key-component is the communication between the
members of the group that build a system of constant feedback. The swarm behavior involves
constant change of individuals in cooperation with others, as well as the behavior of the
whole group.

Unlike destributed design in general, swarm robotics emphasizes a large number of robots,
and promotes scalability, for instance by using only local communication. That local
communication for example can be achieved by wireless transmission systems, like radio
frequency or inferared.

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 4

INDEX:

1. INTRODUCTION……………………………………………..…………………6

2. LITERATURE SURVEY........................................................................................7

3. BLOCK DIAGRAM…………………………………………..………………….8

3.1 BLOCK DIAGRAM……………………………….……………………9

3.2 EXPLANATION………………………………….……………………10

4. WORKING & EXPLANATION…………….………........……………………..13

4.1 HARDWARE DESIGN………………………………………………..14

4.2 COMPONENT DESCRIPTION……………………………………….15

4.2.1 Atmega32…………………………………………………15

4.2.2 L293d MOTOR DRIVER.....................................................18

4.2.3 INFERARED SENSORS…………………......…………..20

4.2.4 RF MODULE……………………………………………..24

4.3 CIRCUITS………………………………………..…………………...26

4.3.1 MASTER BOARD……………….......…………………..26

4.3.2 SENSOR BOARD……………………………………….....27

5. FLOWCHART OR ALGORITM OF CODE..........................................................28

6. TESTING AND DEBUGING................................................................................30

7. SIMULATION RESULT.........................................................................................31

8. ADVANTAGES...................................................................................................33

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 5

 9. APPLICATION.................................................................................................….34

10. CONCLUSION..................................................................................................................35

11. REFERENCE......................................................................................................................36

12. APPENDIX.........................................................................................................................37

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 6

LIST OF FIGURES:
FIGURE NO TITLE PAGE NO

1. BLOCK DIAGRAM 12

2. Atmega32 PIN PACKAGE 18

3. L293D BLOCK DIAGRAM 21

4. IR SENSOR BLOCK DIAGRAM 22

5. RF MODULE PIN PACKAGE 23

6. MAIN CIRCUIT DIAGRAM 26

7. MASTER BOARD SIMULATION 27

8. SLAVE BOARD SIMULATION 28

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 7

1.0 INTRODUCTION

To have a better understanding of our subject here, one must question our aim and our
approach towards our goal. Firstly why do we go for swarm robots when we can easily
design and manufacture a single robot capable of fulfilling a given task?

The answer to this question is that we are here trying to manufacture a group of robot which
can , perform a task in phases , coordinate with each other and yet be effective even during
the breakdown of one of the robot without happening the progress status of the task at hand
just like in nature a group of ant collectively perform one task and injury to one of the
doesnot hamper their speed.

When we say we are going to program our robot to work autonomously, how is it so different
than programming any other electronic device?

A robot's surroundings can prevent it from doing exactly what it is told to do. When a
computer uses artificial intelligence to play chess, there is no uncertainty about where the
pieces are and where they can be placed. That is not true in a real-world environment, which
has endless possibilities that no amount of programming can ever anticipate.
We would be programming our robots so that it steps first on the grid and then react to the
turns or corners and block. This means it must very quickly determine its position at any
given time, compare that with its desired position, and immediately take corrective action
based on the difference between these two. This is a very important difference that makes
programming a robot different than any other electronic device, which has limited outcomes.

Our swarm robots will be in direct comparison with how nature works .Just like an scout ant
would search for the food and when it finds the objective it would communicat with the other
ants and give the loctaion of the food,our finder robot will solve the grid to find the block and
then communicate with grabing robot sending it the grid location of the block , grabing robot
the strait away goes to the block pick it up and come back . And the general algorithm
would also be compared with the way the ants smell the scent of food and follow it, our
robots will follow grid line to our objective.

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 8

2.0 LITERATURE SURVEY:
.

The young and dynamically growing field of cooperative robotics has become a

diverse research area that often seems to go in several different directions at once. Areas

of interest range from high-level human-interactive robots to biologically inspired

autonomous gnat-like agents . In the past fifteen years many different research areas

have emerged, each generating significant amounts of progress. However, the field is so

new that no topic area within cooperative robotics can be considered mature .

This introduces the key areas of research within the field of cooperative

robotics that pertain to the work presented in this thesis. The first two multi-agent robotic

systems are presented in the Origins section, followed by six main areas of research:

Approaches, Biological Inspirations, Behavior-Based Robotics, Communication,

Mapping and Exploration, and Object Transport and Manipulation. The chapter

concludes with the Cooperative Robotics Research section that presents the work of the

CRR team at Auburn University.

2.1 Approaches

Most of the work in cooperative robotics can be categorized into two approaches:

swarm-type cooperation and intentional cooperation . The swarm-type approach

deals with a large number of lower-level robots that are typically (though not always

unaware of each other’s actions. Tasks proposed for swarm robots usually have a

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 9

parallel nature such as collecting rock samples on Mars and sorting mail. Cooperation

occurs due to the statistical result of a large number of repeated actions. The goal in the

swarm approach is to design each robot’s control laws such that numerous simple

interactions with the environment produce a globally desirable behavior.

2.3 Biological Inspirations

There are numerous examples of biological societies that achieve collective tasks

. Many researchers in the field of swarm robotics have attempted to mimic in

robots the behaviors observed in these societies . Replicating the behaviors of

various biological societies has led to an entire field of research known as behavior-based

robotics [30]. Behavior-based robotics is the foundation of much of the multi-robot work

over the past fifteen years and will be explored in detail in the next section.

2.4 Communication

Communication is a very popular area of study in cooperative robotics, especially

since methods for communication are changing rapidly. Instead of presenting all of the

different methods and their pros and cons, we will first discuss the two distinct types of

multi-robot communication and then give a few examples of each . It

is important to note that applications taking advantage of either form of communication

generally fall into the intentional cooperation category.

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 10

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 11
3.0 BLOCK DIAGRAM:

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 12

 Figure 1

3.1 BLOCK DIAGRAM DESCRIPTION:

• MICROCONTROLLER: The microcontroller is the brain of the robot. It takes the

data input and correspondingly generates a PWM signal that is used to drive the servo
motors .

• MAX232: This module helps in converting the voltage levels between the micro
controller and the communication device.

• MOTOR DRIVER: The voltage required by the motors cannot be supplied by the
micro controller and has to be externally fed and the control should be with micro
controllers .This can be achieved with L293D motor driver.

• WIRELESS MODULE: It consists of a transmitter- receiver pair, which will send the
data of the sensors from the robot to a PC to form a data acquisition system.

• INFRARED SENSOR: This will tell the robot for obstacles. Based on this output, the
robot will choose a certain obstacle free path.

• DC MOTORS: 2 dc motors per robot are being used for movement. They are being
driven by signal that is being generated from the microcontroller.

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 13

 • POWER SUPPLY: The power for the various sections is being provided by a ac to dc
voltage converter

4.0 WORKING AND EXPLANATION:

4.0.1 DATA ACQUISITION SYSTEM:

Data acquisition system (abbreviated DAS) is the process of sampling of real world physical
conditions and conversion of the resulting samples into digital numeric values that can be
manipulated by a computer. Data acquisition and data acquisition systems (abbreviated with
the acronym DAS) typically involves the conversion of analog waveforms into digital values
for processing. The components of data acquisition systems include:
• Sensors that convert physical parameters to electrical signals.
• Signal conditioning circuitry to convert sensor signals into a form that can be
converted to digital values.

In our project, the data from the ir sensors, is sent to microcontroller . Microcontroller then
determines its position and send control signals to the motors to move straight or turn right
or turn left. Another set of ir sensors placed in front of the robot detect presence of any object
if present .

If any obstacle is present in the path of scout robot it then seach for the shortest path to the
next location coordinates and continues till the required block is found.

When the block is detected scout robot transmits the location coordinates to grabber robot via
rf communication grabber then navigates directly to the given coordinates using the
grabbing mechanism pick the block and comes back to start position

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 14

The project is divided into three parts:
1) Hardware design

2) Mechanical design

3) Software design

4.1 HARDWARE DESIGN :

The hardware is basically consisted of following components.

1) DC MOTORS(1 X 2) :: The motor selection has been done on the basis of pressure
and torque they are going to bear. Various type of motors have been studied and dc
motors have been selected.

2) MICROCONTROLLER : Microcontroller is the brain of any robot. We have used

atmega32 which is 8-bit , 5V low power, 32 kb flash microcontroller with 1 kb RAM.

3) SENSORS: Inferared sensors are used to sense the different grid line colors black
and white.

Proximity sensor will be placed at the grabing mechanism arm to grab the block.
TSOP based pressure sensor, with a range of 30 cm, will be used.

4) RF MODULE: It is used for the serial communication required to create the data
acquisition system.

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 15

 Rf module is basically divided into three parts viz.
1) Transmitter-receiver circuits
2) Encoder-decoder ICs
3) Antenna’s

5) POWER SUPPLY: The mains supply is being converted to a 12 V supply through

an adapter needed for the dc motors . Battery pack is being used for suppling power
to the microcontroller.

4.2 COMPONENT DESCRIPTION:

4.2.1 Atmega32:
8-BIT 5.5V LOW POWER 32 KB FLASH MICROCONTROLLER WITH 2 KB
SRAM.

GENERAL DESCRIPTION:

The Atmel AVR Atmega32 is a low power 8 bit cmos microcontroller based on AVR
enhanced RISC architecture. By executing powerfull instructions in a single clock cycle,the
Atmega32 achieves throughputs approcahing 1 MIPS per MHz allowiing the programmer to
optimize the power consumption versus processing speed.

The Atmel®AVR®AVR core combines a rich instruction set with 32 general purpose
working registers. All the 32 registers are directly connected to the Arithmetic Logic Unit
(ALU), allowing two independent registers to be accessed in one single instruction executed
in one clock cycle. The resulting architecture is more code efficient while achieving
throughputs up to ten times faster than conventional CISC microcontrollers.

The Onchip ISP Flash allows the program memory to be reprogrammed in-system through an
SPI serial interface, by a conventional nonvolatile memory programmer, or by an On-chip
Boot program running on the AVR core

FEATURES:

High-performance, Low-power Atmel®AVR® 8-bit Microcontroller

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 16

Advanced RISC Architecture
–131 Powerful Instructions – Most Single-clock Cycle Execution
–32 × 8 General Purpose Working Registers
–Fully Static Operation
–Up to 16 MIPS Throughput at 16MHz
–On-chip 2-cycle Multiplier

High Endurance Non-volatile Memory segments

–32Kbytes of In-System Self-programmable Flash program memory
–1024Bytes EEPROM
–2Kbytes Internal SRAM
–Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
–Data retention: 20 years at 85°C/100 years at 25°C(1)
–Optional Boot Code Section with Independent Lock Bits

In-System Programming by On-chip Boot Program

True Read-While-Write Operation
–Programming Lock for Software Security

JTAG (IEEE std. 1149.1 Compliant) Interface

–Boundary-scan Capabilities According to the JTAG Standard
–Extensive On-chip Debug Support
–Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface

Peripheral Features
–Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes
–One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture

Mode
–Real Time Counter with Separate Oscillator
–Four PWM Channels
–8-channel, 10-bit ADC

8 Single-ended Channels
7 Differential Channels in TQFP Package Only
2 Differential Channels with Programmable Gain at 1x, 10x, or 200x
–Byte-oriented Two-wire Serial Interface
–Programmable Serial USART
–Master/Slave SPI Serial Interface
–Programmable Watchdog Timer with Separate On-chip Oscillator
–On-chip Analog Comparator

Special Microcontroller Features

–Power-on Reset and Programmable Brown-out Detection
–Internal Calibrated RC Oscillator
–External and Internal Interrupt Sources
–Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby
and Extended Standby

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 17

I/O and Packages
–32 Programmable I/O Lines
–40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF
Operating Voltages
–2.7V - 5.5V for ATmega32L
–4.5V - 5.5V for ATmega32

ATmega32 PIN CONFIGURATION

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 18

 Figure 2.PDIP40 PIN PACKAGE

PIN DESCRIPTION:

Port A (PA7..PA0)
Port A serves as the analog inputs to the A/D Converter.Port A also serves as an 8-bit bi-
directional I/O port, if the A/D Converter is not used. Port pin scan provide internal pull-up
resistors (selected for each bit). The Port A output buffers have symmetrical drive
characteristics with both high sink and source capability. When pins PA0 to PA7 are used as
inputs and are externally pulled low, they will source current if the internal pull-up resistors
are activated. The Port A pins are tri-stated when a reset condition becomes active,
even if the clock is not running.

Port B (PB7..PB0)
Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit).
The Port B output buffers have symmetrical drive characteristics with both high sink and
source capability. As inputs, Port B pins that are externally pulled low will source current if
the pull-up resistors are activated. The Port B pins are tri-stated when a reset condition
becomes active, even if the clock is not running. Port B also serves the functions of various
special features of the ATmega32 .

Port C (PC7..PC0)
Port C is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit).
The Port C output buffers have symmetrical drive characteristics with both high sink and
source capability. As inputs, Port C pins that are externally pulled low will source current if
the pull-up resistors are activated. The Port C pins are tri-stated when a reset condition
becomes active, even if the clock is not running. If the JTAG interface is enabled, the pull-up
resistors on pinsPC5(TDI), PC3(TMS) and PC2(TCK) will be activated even if a reset
occurs.The TD0 pin is tri-stated unless TAP states that shift out data are entered. Port C also
serves the functions of the JTAG interface and other special features of the ATmega32 .

Port D (PD7..PD0)
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit).
The Port D output buffers have symmetrical drive characteristics with both high sink and

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 19

source capability. As inputs, Port D pins that are externally pulled low will source current if
the pull-up resistors are activated. The Port D pins are tri-stated when a reset condition
becomes active, even if the clock is not running. Port D also serves the functions of various
special features of the ATmega32

RESET
Reset Input. A low level on this pin for longer than the minimum pulse length will generate a
reset, even if the clock is not running. Shorter pulses are not guaranteed to generate a reset.

XTAL1
Input to the inverting Oscillator amplifier and input to the internal clock operating circuit.

XTAL2
Output from the inverting Oscillator amplifier.

AVCC
AVCC is the supply voltage pin for Port A and the A/D Converter. It should be externally
connected to VCC, even if the ADC is not used. If the ADC is used, it should be connected to
VCC through a low-pass filter.

AREF
AREF is the analog reference pin for the A/D Converter.

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 20

4.2.2 L293D MOTOR DRIVER:

The Device is a monolithic integrated high voltage, high current four channel driver designed
to accept standard DTL or TTL logic levels and drive inductive loads (such as relays
solenoides, DC and stepping motors) and switching power transistors. To simplify use as two
bridges each pair of channels is equipped with an enable input. A separate supply input is
provided for the logic, allowing operation at a lower voltage and internal clamp diodes are
included. This device is suitable for use in switching applications at frequencies up to 5 kHz.

Block diagram:

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 21

4.2.4 IR SENSORS :

Infrared emitter detector pair sensors are fairly easy to implement, although involved some
level of testing and calibration to get right. They can be used for obstacle detection, motion
detection, transmitters,encoder, and color detection

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 22

4.1.6 RF MODULE:
RF module is basically divided into three parts viz.
1) Transmitter-receiver circuits
2) Encoder-decoder ICs
1) Antenna’s

Transmitter Circuit:

Transmitter circuit is basically a ASK hybrid transmitter circuit available in the market called
as CC2500

General Description:

The CC2500 is a low-cost2.4GHz transceiver designed for very low-power wireles sappli-
cations.The circuit is intended for the 2400-2483.5MHz ISM(Industrial, Scientific and
Medical) and SRD (Short Range Device) frequency band.The RF transceiver is integrated
with a highly configurable baseb and modem. The modem supports various modulation
formats and has a configurable data rate upto 500 k Baud.

PARAMETERS

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 23

PIN CONFIGURATION

Applications:
1) Wireless security systems
2) Car Alarm systems
3) Remote controls.
4) Sensor reporting
5) Automation systems

Figure 6

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 24

SOFTWARE DESIGN:
5.0 FLOOD FILL ALGORITHM:

5.1 SIX LEGGED ROBOT (HEXAPOD):

Figure 14:STATIC WALKING WITH SIX LEGS. A TRIPOD FORMED BY THREE

LEGS ALWAYS EXISTS.

5.2 FLOWCHART:

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 25

5.3 ALGORITHM:

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 26

6.0 TESTING AND DEBUGING:

6.1CIRCUIT TESTING AND DEBUGING:

The main circuit of the project is designed in software Proteus 7.0

the main components of the circuit are placed and connected to minimize the
size of circuit and then also maintain the separate space for heat dissipation

the circuit was tested for the various voltages occuring at various points in the

circuit.

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 27

7.0 SIMULATION AND RESULT:

7.0.1 MASTER BOARD:

Figure 8

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 28

7.0.2 SENSOR BOARD:

Figure 9

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 29

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 30
MECHANICAL STRUCTURE:
6.0 MECHANICAL DESIGN:

Figure 16
6.1 LIMB STRUCTURE:

Figure 17

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 31

6.2 CHASIS DIAGRAM OF THE SAMPLE ROBOT:

Figure 18

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 32

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 33
 Figure 19

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 34

8.0 ADVANTAGES:
• More stable than wheeled robots.

• Can maneuver in difficult terrains.

• Can climb slanted surfaces and even staircases.

• DAS can be used to continually monitor the robot and figure out what generates an
error quickly and easily.

8.1 APPLICATIONS:
• Space Exploration programs.

• Military application.

• For Surveillance purposes.

• For research purposes.

• Artificial Intelligence.

• Unmanned missions.

8.3 SOFTWARES USED:

• Winavr
• Flash Magic
• Proteus

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 35

8.4 REFERENCES:
REFERENCES

[1] A. Davids, “Urban search and rescue robots: from tragedy to technology,” in IEEE
Intelligent Systems and their Applications, vol. 17, no. 2, 2002, pp. 81-83.
[2] A. Halme, et. al, “The concept of robot society and its utilization,” in Proceedings
of IEEE/Tsukuba International Workshop on Advanced Robotics, 1993, pp 29-35.
[3] A. Jacoff, et. al, “Test arenas and performance metrics for urban search and rescue
robots,” in Proceedings of the IEEE International Conference on Intelligent Robots
and systems, vol. 4, 2003, pp. 3396-3403.
[4] A. M. Flynn and R. A. Brooks, “MIT mobile robots – What’s next?,” in
Proceedings of IEEE International Conference on Robotics and Automation, vol. 1,
1988, pp.611-617.
[5] B. P. Gerkey, et al, “Most valuable player: a robot device server for distributed
control,” in Proceedings of the IEEE/RSJ International Conference on Intelligent
Robots and Systems, 2001, pp. 1226-1231.
[6] B. P. Gerkey, R. T. Vaughan, and A. Howard. “The player/stage project: tools for
multi-robot and distributed sensor systems,” in Proceedings of the International
Conference on Advanced Robotics, 2003, pp. 317-323.
[7] B. Yamauchi, “Frontier-based exploration using multiple robots,” in Proceedings of
the Second International Conference on Autonomous Agents, 1998, pp. 47-53.
[8] C. E. Thorpe and L. H. Matthies, “Path Relaxation: path planning for a mobile
robot,” in OCEANS, vol. 16, 1984, pp. 576-581.
[9] C. R. Kube and H. Zhang, “Collective Robotic Intelligence,” in Second
International conference on Simulation of Adaptive Behavior, MIT Press, 1992, pp.
460-468.
[10] C. R. Kube, Collective Robotic Intelligence Project (CRIP) Home Page:
http://www.cs.ualberta.ca/~kube/research.html
[11] C. R. Kube, E. Bonabeau, “Cooperative transport by ants and robots,” in Robotics
and Autonomous Systems, vol. 30, 2000, pp. 85-101.

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 36

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 37
DATASHEETS:
• MICROCONTROLLER ATmega32

• L293D

• CC2500

DESIGN, DEVELOPMENT AND STUDY OF SWARM ROBOTS Page 38