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Vol: 55(69) No: 4 / December 2010 Control of NXT Robot Swarm by Compass and Odometry Method Equipped by Bluetooth Communication Attila Pásztor Kecskemét College, Faculty of GAMF, Department of Information Technology, Kecskemét, Hungary, e-mail: pasztor.attila@gamf.kefo.hu Tamás Kovács Kecskemét College, Faculty of GAMF, Department of Information Technology, Kecskemét, Hungary, e-mail: kovacs.tamas@gamf.kefo.hu Zoltán Istenes Eötvös Loránd University, Faculty of Informatics, Department of Software Technology and Methodology, Budapest, Hungary, e-mail: istenes@inf.elte.hu Keywords: NXT robot swarm, compass method, odometry method, Bluetooth communication Abstract In our article we wrote about how we built up - at the Kecskemét College faculty of GAMF at the Department of Information Technology - a new communication chain (line) with the help of some simple “Dual NXT” robots and how we solved the problem of control their navigation by compass and odometry method. The first part of this article is dealing with how the communication takes place between members of the robot swarm during the movement and how they can be used in the search simulation. In the next part we present that the odometry method, which we used for the robot movement control, caused too many imprecisions because we used magnetic compass sensors for controlling of robots. This simulation can serve as a starting point of a new practical application, where for example the robots explore a cells divided area and transport text files between two phones via Bluetooth. We would like to write an algorithm which can be used on area where there are some obstacles and the robot swarm has to bypass them. References [1] O. Michel, “Webots: a powerful realistic mobile robots simulator”, Proceeding of the Second International Workshop on RoboCup.,Springer-Verlag, 1998. [2] N. Minar, R. Burkhart, C. Langton, and M. Askenazi., “The Swarm simulation system: A toolkit for building multi-agent simulations”, Technical report, Santa Fe Institute, Working Paper 96-06-042, 1996. [3] N. Collier, T. Howe, and M. North.Onward and upward,”The transition to Repast 2.0”, Proceedings of the First Annual North American Association for Computational Social and Organizational Science Conference, 2003. [4] E. Bonebeau, M. Dorigo, G. Thereulaz, Swarm Intelligence: From Natural to Artificial Systems, Oxford University Press, New York, 1999. [5] S. Nouyan, M. Dorigo,. „Chain Based Path Formation in Swarms of Robots”, Proceedings of 5th International ANTS Workshop, pp. 120-132 , 2006. [6] M. J. B. Krieger, J-B. Billeter, “The call of duty: Self-organised task allocation in a population of up to twelve mobile robots”, Robotics and Autonomous Systems, vol. 30, pp. 65–84, 2000. [7] A Pasztor, T. Kovacs, Z. Istenes, “Swarm intelligence simulation with NXT robots using Piconet and Scatternet”, Proceedings of 5th International Symposium on Applied Computational Intelligence and Informatics (SACI ’09), Timisoara, Romania, pp. 199–204, 2009. [8] J. C. Haartsen, “The Bluetooth radio system”, IEEE Personal Communications, vol. 7, pp. 28-36, 2000. [9] R. M. Whitaker, L. Hodge, I. Chlamtac, “Bluetooth scatternet formation, A survey”, Ad Hoc Networks, vol. 3, pp. 403–450, 2005. [10] K. Sohrabi, W. Merrill, J. Elson, L. Girod, F. Newberg, W. Kaiser, “Scalable Self-Assembly for Ad Hoc Wireless Sensor Networks”, IEEE Transactions on Mobile Computing, pp.317-331, 2002. [11] T. Kovacs, A. Pasztor and Z. Istenes, “A scalable Bluetooth scatternet formed by autonomous mobile robots and cell phones”, Proceedings of 10th International Symposium of Hungarian Researchers, Budapest, Hungary, 2009. [12] R. Joiner and K. Issroff, “Tracing success: graphical methods for analyzing successful collaborative problem solving”, Computers & Education, vol. 41, pp. 369–378, 2003. [13] I. Rekleitis, A. P. New, and H. Choset, “Distributed coverage of unknown/unstructured environments by mobile sensor networks”, Multi-Robot Systems. From Swarms to Intelligent Automata, vol. III, L. E. Parker et al., Eds., The Netherlands, Springer-Verlag, pp. 145–155, 2005. [14] A Pasztor, T. Kovacs, Z. Istenes, “Compass and Odometry Based Navigation of a Mobile Robot Swarm Equipped by Bluetooth Communication”, Proceedings of IEEE International Joint Conferences on Computational Cybernetics and Technical Informatics (ICCC CONTI 2010), Timisoara, Romania, pp. 565–570, 2010. |