{"id":994,"date":"2018-10-25T08:47:43","date_gmt":"2018-10-25T07:47:43","guid":{"rendered":"https:\/\/babel.isa.uma.es\/kipr\/?p=994"},"modified":"2018-10-25T08:47:43","modified_gmt":"2018-10-25T07:47:43","slug":"perpetual-power-for-small-robots-in-a-swarm","status":"publish","type":"post","link":"https:\/\/babel.isa.uma.es\/kipr\/?p=994","title":{"rendered":"Perpetual power for small robots in a swarm"},"content":{"rendered":"<h4>Farshad Arvin, Simon Watson, Ali Emre Turgut, Jose Espinosa, Tom\u00e1\u0161 Krajn\u00edk, Barry Lennox, <strong>Perpetual Robot Swarm: Long-Term Autonomy of Mobile Robots Using On-the-fly Inductive Charging<\/strong>, Journal of Intelligent &#038; Robotic Systems, December 2018, Volume 92, Issue 3\u20134, pp 395\u2013412, <a href=\"https:\/\/doi.org\/10.1007\/s10846-017-0673-8\" target=\"_blank\">DOI: 10.1007\/s10846-017-0673-8<\/a>.<\/h4>\n<blockquote><p>Swarm robotics studies the intelligent collective behaviour emerging from long-term interactions of large number of simple robots. However, maintaining a large number of robots operational for long time periods requires significant battery capacity, which is an issue for small robots. Therefore, re-charging systems such as automated battery-swapping stations have been implemented. These systems require that the robots interrupt, albeit shortly, their activity, which influences the swarm behaviour. In this paper, a low-cost on-the-fly wireless charging system, composed of several charging cells, is proposed for use in swarm robotic research studies. To determine the system\u2019s ability to support perpetual swarm operation, a probabilistic model that takes into account the swarm size, robot behaviour and charging area configuration, is outlined. Based on the model, a prototype system with 12 charging cells and a small mobile robot, Mona, was developed. A series of long-term experiments with different arenas and behavioural configurations indicated the model\u2019s accuracy and demonstrated the system\u2019s ability to support perpetual operation of multi-robotic system.<\/p><\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>Farshad Arvin, Simon Watson, Ali Emre Turgut, Jose Espinosa, Tom\u00e1\u0161 Krajn\u00edk, Barry Lennox, Perpetual Robot Swarm: Long-Term Autonomy of Mobile <span class=\"ellipsis\">&hellip;<\/span> <span class=\"more-link-wrap\"><a href=\"https:\/\/babel.isa.uma.es\/kipr\/?p=994\" class=\"more-link\"><span>Read More &rarr;<\/span><\/a><\/span><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[382],"tags":[383,359],"class_list":["post-994","post","type-post","status-publish","format-standard","hentry","category-multirrobot-systems","tag-perpetual-power-for-robots","tag-swarm-robotics"],"_links":{"self":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/994"}],"collection":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=994"}],"version-history":[{"count":1,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/994\/revisions"}],"predecessor-version":[{"id":995,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=\/wp\/v2\/posts\/994\/revisions\/995"}],"wp:attachment":[{"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=994"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=994"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/babel.isa.uma.es\/kipr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=994"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}