Swarm Behaviour for the Zebro Robot
Jurriaan de Groot (TU Delft - Electrical Engineering, Mathematics and Computer Science)
Chris Verhoeven – Mentor
Edwin Hakkennes – Graduation committee member
Arjan van Genderen – Coach
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Abstract
Nature has found many interesting solutions to similar problems that we face with robots. Swarming in robotics is an interesting field to reduce cost and risk, and provide a scalable solution to certain problems. The Zebro Project of the TU Delft performs research in the field of swarm robotics using the six legged robot, called a Zebro. Swarm robotics consists of using a large amount of small, independent robots that respond to one another in order to create a distributed, global behaviour.
The robots have been simulated using the Unity engine, to investigate methods to accomplish swarming behaviour. The simulated Zebros and sensors are modelled after real life designs. The algorithm is based on bird flocking behaviour to create mobile and cohesive swarming behaviour. The Zebro robots are not ready for testing yet, but the algorithms have been prepared for testing using a Raspberry Pi.