Title :
Enabling swarm behavior in mm3-sized robots with specific designed integrated electronics
Author :
Casanova, R. ; Dieguez, A. ; Sanuy, A. ; Arbat, A. ; Alonso, O. ; Canals, J. ; Puig, M. ; Samitier, J.
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
This paper presents a system on chip (SoC) designed specifically to control a mm3-sized microrobot called I-SWARM. The robot is intended to be part of a colony of 1000 members for studying swarm behavior in real time with real robots. The SoC offers a well-suited hardware platform to run multi-agent systems software. The SoC enables control of movement, communications and sensing. It is a platform where run multi-agent system software. With these capabilities, the robot is able for example to avoiding collisions, perform cooperative tasks, share information and, of course, solve different swarm scenarios and more complex tasks. The SoC has been fabricated with a 0.13 mum ultra low power CMOS process of STMicroelectronics and consumes less than 1.5 mW.
Keywords :
CMOS integrated circuits; collision avoidance; control engineering computing; integrated circuit design; low-power electronics; microrobots; mobile robots; multi-robot systems; system-on-chip; I-SWARM; collisions avoidance; cooperative tasks; hardware platform; integrated electronics; microrobot; multiagent systems software; size 0.13 mum; swarm behavior; system on chip design; ultra low power CMOS process; Circuits; Communication system control; Control systems; Hardware; Intelligent robots; Microcontrollers; Parallel robots; Robot control; Robot sensing systems; System-on-a-chip;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399173
