Sailing a Boat Through a Macroscopic Smart-Fluid Composed of a Robot Swarm

Autor:	Paul Motter, Michael W. Otte, Zachary Hoover
Rok vydání:	2021
Předmět:	Stern Flat surface Computer science business.industry Testbed Swarm behaviour Robot Wireless Rudder Smart fluid business Simulation
Zdroj:	Experimental Robotics ISBN: 9783030711504 ISER
DOI:	10.1007/978-3-030-71151-1_38
Popis:	We investigate how a physically inert vehicle, which we call a “boat,” can locomote through a smart fluid by communicating with the particles of a smart fluid, and thereby inducing the fluid to exert forces and moments on the boat. Our smart fluid is composed of a swarm of Kilobot robots that move on a flat surface. The boat communicates with the fluid particles through wireless messages sent from its bow and stern. By sending different pairs of messages from its bow and stern the boat directs the subsets of the smart fluid in different locations to move in different ways. This enables the boat to maneuver forward, turn left, and turn right. In experiments on a physical testbed, we evaluate how the presence and size of the boat’s rudder affects motion efficacy. We find that using a small rudder provides better overall motion than using no rudder or using a large rudder.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::bb69bba27515e751576bdf8166f02eb3 https://doi.org/10.1007/978-3-030-71151-1_38 Zobrazit plný text záznamu