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Title: BSAC Research Review Individual Project


1
CotsBots An Off-the-Shelf Platform for
Distributed Robotics
Sarah Bergbreiter and Dr. Kris Pister Berkeley
Sensor and Actuator Center October 29, 2003
2
History of CotsBots
1mm
1mm
Add Legs
Smart Dust (Warneke, et al. Sensors2002)
Microrobots (Hollar, Flynn, Pister. MEMS2002)
Add Robot Body
COTS Dust (Hill, et al. ACM OS Review 2000)
3
Goals for CotsBots
  • Open-source hardware and software platform for
    distributed robotics
  • Small, cheap, off-the-shelf, and modular robots
  • Emphasize application design software for large
    (gt 50) robot networks
  • Reduce startup costs to demonstrate distributed
    multi-robot algorithms

4
Similar Robot Platforms
Size
  • Khepera II expensive
  • Robomote (USC) custom design
  • Millibots (CMU) custom design
  • Soccer Robots custom design
  • Pioneer large and expensive

TARGET SPACE
Pioneer
Cost
Khepera
Millibots
Soccer Robots
Robomote
Microrobots
Off-the-shelf-1
5
CotsBots Hardware
MotorBoard
Mica Mote
  • Atmel ATmega128
  • 4 Mhz 8-bit CPU
  • 4KB RAM
  • 128KB Program Memory
  • RFM TR1000 radio
  • 50 kb/s ASK
  • Focused hardware acceleration
  • Network programming
  • Atmel ATmega8L
  • 1-8MHz CPU
  • 8KB Program Memory
  • 1KB RAM
  • 2 Discrete H-Bridge Circuits
  • Speed and Direction Control of Motors
  • up to 4A, 30V load
  • 51-pin bus

Kyosho Mini-Z RC Car Platform (or others)
Sensor boards available including ADXL202e,
magnetometer, light, temp, sound, etc.
6
CotsBots Hardware Stats
Size
6cm
13cm
6cm
Cost
  • Power 1 hour on 4 AAA batteries
  • Speed Over 120 cm/sec
  • Turning Radius /- 30o
  • 80 robots built thus far

Approximately 10 robots assembled per hour from
purchased components
Off-the-shelf-1
7
CotsBots Software
  • Use open-source NesC language and code provided
    by TinyOS group (available on SourceForge)
  • TinyOS is an event-driven operating system useful
    for behavioral and FSM-type applications
  • Try to abstract as much as possible from the
    application writer (developer should focus on
    algorithms)
  • Remain flexible by keeping component-based design

8
CotsBots Software
  • Use open-source NesC language and code provided
    by TinyOS group (available on SourceForge)
  • TinyOS is an event-driven operating system useful
    for behavioral and FSM-type applications
  • Try to abstract as much as possible from the
    application writer (developer should focus on
    algorithms)
  • Remain flexible by keeping component-based design

9
CotsBots Software
  • Use open-source NesC language and code provided
    by TinyOS group (available on SourceForge)
  • TinyOS is an event-driven operating system useful
    for behavioral and FSM-type applications
  • Try to abstract as much as possible from the
    application writer (developer should focus on
    algorithms)
  • Remain flexible by keeping component-based design

Robot Application
Mica Software
Timer
Robot
Radio
Motor Packet
Motor Software
Tank
Motor Packet
Motor1
Motor2
MotorBoard Software
10
Building an Application Beep Diffusion
  • Simple algorithm to spread robots apart
  • Adjusting microphone gain adjusts distance robots
    move apart

Send Msg/Beep
Time Slot Manager
My Slot
Heard Msg
Listen
Done Driving
Heard Beep
Done Driving
Obstacle
Drive
Hit Obstacle
11
Building an Application Beep Diffusion
  • Build the component graph
  • Write some components (blue boxes are free!)
  • Add a sensorboard with sensors required (4kHz
    buzzer, mic, 2-axis accelerometer)

12
Building an Application Beep Diffusion
  • Implementation
  • 5 robots in 10ft x 10ft area
  • 3.5 second slot time
  • Difficulties with buzzer/tone detector hardware
    lead to inconsistent beep radius

13
Conclusions
  • Reduced the startup costs (time and money) for
    designing distributed robot applications
  • A small, inexpensive, off-the-shelf, and modular
    hardware platform has been built for distributed
    robot applications
  • TinyOS provides an open-source software platform
    which promotes abstraction, code re-use, and
    flexibility
  • Simplified application development for simple
    distributed algorithms

14
Acknowledgements
  • Doug Gage and DARPA/SDR, DARPA/NEST for funding
  • Dr. David Culler and the TinyOS group
  • Mica motes distributed by
  • http//www.xbow.com
  • TinyOS and CotsBots code available at
  • http//www.sourceforge.net/projects/tinyos
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