A Versatile Vision-Pheromone-Communication Platform for Swarm Robotics

Abstract

This paper describes a versatile platform for swarm robotics research. It integrates multiple pheromone communication with a dynamic visual scene along with real time data transmission and localization of multiple-robots. The platform has been built for inquiries into social insect behavior and bio-robotics. By introducing a new research scheme to coordinate olfactory and visual cues, it not only complements current swarm robotics platforms which focus only on pheromone communications by adding visual interaction, but also may fill an important gap in closing the loop from bio-robotics to neuroscience. We have built a controllable dynamic visual environment based on our previously developed ColCOSΦ (a multi-pheromones platform) by enclosing the arena with LED panels and interacting with the micro mobile robots with a visual sensor. In addition, a wireless communication system has been developed to allow transmission of real-time bi-directional data between multiple micro robot agents and a PC host. A case study combining concepts from the internet of vehicles (IoV) and insect-vision inspired model has been undertaken to verify the applicability of the presented platform, and to investigate how complex scenarios can be facilitated by making use of this platform.