Swarm Robotics: Self Assembly, Physical Configuration, and Its Control

摘要

A swarm-bot connected physically from two independent robots is introduced how it aims at avoiding obstacles or climbing up/down stairs. The design and fabrication are addressed and its movement control, obstacle identification and avoidance are also introduced. Utilizing the fast mobility of the vehicle robot and cooperating between robots enlarge the swarm robot's applications. An algorithm for identifying the partner robot and its generic mechanism enabling the docking of two robots are addressed. The assembled or disassembled swarm-bot has advantages in terms of various motion feature and effective adaptability to the environment by the help of substantial technologies such as vision and sensor integration