Abstract
Swarm robots, which are inspired from the way insects behave collectively in order to achieve a common goal, have become a major part of research with applications involving search and rescue, area exploration, surveillance etc. In this paper, we present a swarm of robots that do not require individual extrinsic sensors to sense the environment but instead use a single central camera to locate and map the swarm. The robots can be easily built using readily available components with the main chassis being 3D printed, making the system low-cost, low-maintenance, and easy to replicate. We describe Zutu's hardware and software architecture, the algorithms to map the robots to the real world, and some experiments conducted using four of our robots. Eventually, we conclude the possible applications of our system in research, education, and industries.
Abstract (translated)
群智能机器人，以昆虫集体行动方式为灵感，以实现共同目标，已成为搜索与救援、区域探索和监控等应用领域的关键部分。在本文中，我们介绍了一种不需要个别外部传感器来感知环境的群智能机器人，而是使用一个中央相机来定位和绘制群落。机器人可以使用易于获得的组件轻松构建，主底盘采用3D打印技术制造，使系统具有低成本、低维护性和易复制的特点。我们描述了Zutu的硬件和软件架构、将机器人映射到现实世界的算法以及使用我们其中的四个机器人进行的一些实验。最后，我们总结了我们的系统在研究、教育和产业领域可能的应用。
URL
https://arxiv.org/abs/2403.11252
