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Design and implementation of a millirobot for swarm studies – mROBerTO

Published online by Cambridge University Press:  30 July 2018

Justin Y. Kim ,
Zendai Kashino Open the ORCID record for Zendai Kashino [Opens in a new window] ,
Tyler Colaco ,
Goldie Nejat  and
Beno Benhabib
Justin Y. Kim
Affiliation:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, ON, M5S 3G8, Canada. E-mails: [email protected], [email protected], [email protected], [email protected]
Zendai Kashino*
Affiliation:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, ON, M5S 3G8, Canada. E-mails: [email protected], [email protected], [email protected], [email protected]
Tyler Colaco
Affiliation:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, ON, M5S 3G8, Canada. E-mails: [email protected], [email protected], [email protected], [email protected]
Goldie Nejat
Affiliation:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, ON, M5S 3G8, Canada. E-mails: [email protected], [email protected], [email protected], [email protected]
Beno Benhabib
Affiliation:
Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, ON, M5S 3G8, Canada. E-mails: [email protected], [email protected], [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

The use of millirobots, particularly in swarm studies, would enable researchers to verify their proposed autonomous cooperative behavior algorithms under realistic conditions with a large number of agents. While multiple designs for such robots have been proposed, they, typically, require custom-made components, which make replication and manufacturing difficult, and, mostly, employ non-modular integral designs. Furthermore, these robots' proposed small sizes tend to limit sensory perception capabilities and operational time. Some have resolved few of the above issues through the use of extensions that, unfortunately, add to their size.

In contribution to the pertinent field, thus, a novel millirobot with an open-source design, addressing the above concerns, is presented in this paper. Our proposed millirobot has a modular design and uses easy to source, off-the-shelf components. The milli-robot-Toronto (mROBerTO) also includes a variety of sensors and has a 16 × 16 mm2 footprint. mROBerTO's wireless communication capabilities include ANT™, Bluetooth Smart, or both simultaneously. Data-processing is handled by an ARM processor with 256 KB of flash memory. Additionally, the sensing modules allow for extending or changing the robot's perception capabilities without adding to the robot's size. For example, the swarm-sensing module, designed to facilitate swarm studies, allows for measuring proximity and bearing to neighboring robots and performing local communications.

Extensive experiments, some of which are presented herein, have illustrated the capability of mROBerTO units for use in implementing a variety of commonly proposed swarm algorithms.

Keywords

Swarm roboticsDesignMulti-robot systemsControl of robotic systemsRobot localization
Type
Articles
Information
Robotica , Volume 36 , Issue 11 , November 2018 , pp. 1591 - 1612
Copyright
Copyright © Cambridge University Press 2018 

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