CLC number: TP242
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2019-12-25
Cited: 0
Clicked: 6474
Audelia G. Dharmawan, Gim Song Soh, Shaohui Foong, Roland Bouffanais, Kristin L. Wood. Design innovation of mesoscale robotic swarms: applications to cooperative urban sensing and mapping[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(12): 1618-1631.
@article{title="Design innovation of mesoscale robotic swarms: applications to cooperative urban sensing and mapping",
author="Audelia G. Dharmawan, Gim Song Soh, Shaohui Foong, Roland Bouffanais, Kristin L. Wood",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="20",
number="12",
pages="1618-1631",
year="2019",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.1900384"
}
%0 Journal Article
%T Design innovation of mesoscale robotic swarms: applications to cooperative urban sensing and mapping
%A Audelia G. Dharmawan
%A Gim Song Soh
%A Shaohui Foong
%A Roland Bouffanais
%A Kristin L. Wood
%J Frontiers of Information Technology & Electronic Engineering
%V 20
%N 12
%P 1618-1631
%@ 2095-9184
%D 2019
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1900384
TY - JOUR
T1 - Design innovation of mesoscale robotic swarms: applications to cooperative urban sensing and mapping
A1 - Audelia G. Dharmawan
A1 - Gim Song Soh
A1 - Shaohui Foong
A1 - Roland Bouffanais
A1 - Kristin L. Wood
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 20
IS - 12
SP - 1618
EP - 1631
%@ 2095-9184
Y1 - 2019
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.1900384
Abstract: Development of mesoscale robots is gaining interest in security and surveillance domains due to their stealth and portable nature in achieving tasks. Their design and development require a host of hardware, controls, and behavioral innovations to yield fast, energy-efficient, distributed, adaptive, robust, and scalable systems. We extensively describe one such design and development process by: (1) the genealogy of our embedded platforms; (2) the key system architecture and functional layout; (3) the developed and implemented design principles for mesoscale robotic systems; (4) the various key algorithms developed for effective collective operations of mesoscale robotic swarms, with applications to urban sensing and mapping. This study includes our perception of the embedded hardware requirements for reliable operations of mesoscale robotic swarms and our description of the key innovations made in magnetic sensing, indoor localization, central pattern generator control, and distributed autonomy. Although some elements of the design process of such a complex robotic system are inevitably ad-hoc, we focus on the system-of-systems design process and the component design integration. This system-of-systems process provides a basis for developing future systems in the field, and the designs represent the state-of-the-art development that may be benchmarked against and adapted to other applications.
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