Farzana’s blog: Week 4 update

Duckiebot update:

  • The duckiebot, Horizon, has been assembled.
  • The Duckiebot is finally operational after we resolved some bugs. Initially, it had battery and WiFi problems. We had to recharge the battery for thirty minutes, take a break, and then charge it for another five hours. After that, we were able to run it in the morning.

Review of the paper ” Survey and Analysis of Multi-Robot Coordination” :

The paper “A Survey and Analysis of Multi-Robot Coordination” by Zhi Yan, Nicolas Jouandeau, and Arab Ali Cherif comprehensively reviews coordination strategies for multiple mobile robot systems (MMRS), emphasizing the transition from single-robot control to multi-robot coordination. It distinguishes between static coordination (pre-established rules) and dynamic coordination (real-time adaptation), with dynamic coordination divided into explicit (intentional communication) and implicit (environmental interaction) methods. The paper also compares explicit communication, which is accurate but can overload the system, with implicit communication, which is more fault-tolerant but less reliable. It discusses task planning (decomposing and allocating tasks) and motion planning (generating collision-free paths) using techniques like cell decomposition, potential fields, and roadmap approaches such as PRM and RRT. The paper contrasts centralized decision-making architectures (optimal but less robust) with decentralized architectures (more adaptable and robust but often suboptimal), including distributed and hierarchical models. Future research directions include improving coordination among diverse robot types, focusing on energy efficiency, and developing hybrid decision-making architectures to handle complex tasks and ensure reliable motion planning.

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