Smart Teams

Summary

In this project we aim at laying the algorithmic foundations for a scenario where an exploration team of robots we call it a smart team has to self-organize itself in order to fulfill tasks like exploring an unknown terrain and executing work in this terrain. Examples for such a task are rescue expeditions in dangerous areas or expeditions in the oceans or on planets. The work of such a smart team has to be guided by strategies for exploration, for finding important objects, and for assigning to such an object a subgroup of robots that jointly have the capabilities necessary to process the object. The challenge is that all these tasks have to be executed by local, distributed strategies that act on the mobile network of the moving robots, and have to result in a robust, effective selforganization of the team. None of these robots ever will have more than very restricted, local knowledge about the global state of the system. Their decisions are solely based on their own observations and findings, from which a globally good behavior of the whole team has to emerge. We will analyse the quality of our strategies both theoretically, e.g. by means of competitive analysis, and experimentally by extending SAHNE, our simulation platform for communication in mobile ad hoc networks.

Background

The project was proposed in 2005 by Prof. Dr. Friedhelm Meyer auf der Heide and Prof. Dr. Christian Schindelhauer as a subproject of DFG SPP 1183: Organic Computing.
The full name of this project: "Smart Teams: Local Distributed Strategies for Self-Organizing Robotic Exploration Teams".

People

  • Bastian Degener (to March 2011)
  • Miroslaw Dynia (to December 2007)
  • Daniel Jung (Contact)
  • Barbara Kempkes (to June 2012)
  • Jaroslaw Kutylowski (to December 2007)
  • Friedhelm Meyer auf der Heide (Project Manager)
  • Chia Ching Ooi (University of Freiburg)
  • Christian Schindelhauer (University of Freiburg, Project Manager)

Smart Team Simulator

The Smart Team Simulator, developed in Java, cannot only simulate large swarms of robots on huge terrains, but can also present it in an impressive way. The RMI-enabled visualization covers both a 2d-view with helpful informations and a realistic 3d-view. Furthermore a customizable module for the representation of various statistic measured variables (e.g. as pie charts oder bar charts) is integrated. For developers a highly developed and easily understandable interface exists, allowing the efficient development of strategies for individual robots. A framework is available, which offers a library of frequently used robot actions (e.g. energy management or automatic orbiting of obstacles) and an easy to use interface to these. The simulator can be configured either comfortably using a GUI or using XML files.

The Smart Team simulator was developed by the project group SmartTeams: Alexander Buss, Helena Deck, Miroslaw Dynia, Matthias Fischer, Holger Hagedorn, Peter Isaak, Alexander Krieger, Jaroslaw Kutylowski, Friedhelm Meyer auf der Heide, Viktor Nesterow, Adrian Ogierman, Jonas Schrieb, Boris Stobbe, Thomas Storm und Henning Wachsmuth.
For results refer to Publication AMiRE 2007.

Simulator and Documentation

SmartS simulator

The SmartS simulator is part of the Smart Teams project. It is intended to simulate the Smart Teams scenario, with multiple robots working in some terrain. In SmartS, you can plug your strategies for robots into the general framework easily. This allows for quick development of new strategies. SmartS has been created by: