Title : Swarm Robot Scenarios in Virtual Environment



Project Lead : Adriana Milasan From : MIlitary Technical Academy (Romania)

Dates : from 2014-11-24 18:07:05 to 2015-02-04 13:10:00

Description :

Motivation and objectives :
The use of a virtual environment to create custom swarm robot scenarios can speed up the implementation and study of robot swarm algorithm by eliminating the drawback of having a limited number of robots and physical objects in a limited amount of space.

Teams :
The research group in robotics consists of young researchers from various scientific fields (electronics & mechanics), graduate students (from the robotics master) and undergraduate students joining the field of robotics.

Dates :
starting date : 19 January, 2015
ending date : 30 January, 2015

Facilities descriptions :
http://visionair-browser.g-scop.grenoble-inp.fr/visionair/Browser/Catalogs/3DICC.HU.html

Recordings & Results :
The use of a virtual environment to create custom swarm robot scenarios can speed up the implementation and study of robot swarm algorithm by eliminating the drawback of having a limited number of robots and physical objects in a limited amount of space.

Conclusions :
Also see attached documents with Figures: - learning about various 3d model file formats - modelling 3d parts using CATIA and exporting to Ogre Mesh format - design of various 3d models for objects and obstacles usign SketchUp - design of a new arena for the Nexus swarm robots with various scenarios - integration of the Nexus arena into the VirCA environment The Nexus arena contains 3D objects for scenarios required by automomous robot algorithms, such as: Figure 1a Figure 1b Group starting positions Figure 2a Figure 2b Individual docking stations for virtual recharging Figure 3a Figure 3b Small passing corridor for collision avoidance and prioritizing Figure 4a Figure 4b Obstacles for proximity/distance sensing and avoidance Figure 5a Figure 5b Start, checkpoints and destination points for patch planning Figure 6a Figure 6b Complex track for line follower applications




Project Images :

checkpoint1.png
obstacles.png wheel_ogre.png docking1.png
destination.png working.png obstacle1.png
checkpoint.png track.png checkpoint2.png
linefollower.png passage.png startpoint.png
obstacle2.png docking.png nexus_arena.png
nexus_ogre.png virca_editor.png start.png
robot_model.png



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VISIONAIR / Grenoble INP / 46 avenue Felix Viallet / F-38 031 Grenoble cedex 1 / FRANCE
Project funded by the European Commission under grant agreement 262044