A NOVEL AND SIMPLE-TO-IMPLEMENT FRIEND OR FOE IDENTIFICATION SYSTEM IN MULTI-ROBOT BATTLEFIELD

Yıl 2011, Cilt: 3 Sayı: 1, 23 - 36, 01.03.2011

Atilla Elçi Behnam Rahnama Ramin Bakhshı Hamid Mir-mohammad Sadeghı

Öz

This paper draws a beginning-to-end framework for Friend or Foe (FOF) identification for multi-robot battlefield. Mini-sumo robots are well-known example case while absolute positioning of each teammate is not practical. Our simple-to-implement FOF identification does not require two-way communication as it only relies on decryption of payload in one direction. It is shown that the replay attack is not feasible time wise as the communication is encrypted and timestamp is inserted in the messages. The hardware implementation of cooperative robots is equipped with rotary robot able to detect direction and distance to detected object in addition to gyroscope chipset. Studying dynamics of robots allows finding solutions to attack enemies which are more powerful than friends from sides so they will not be able to resist. Besides, there are certain situations that robots must escape instead of fighting. Experimental part of this research attempts to illustrate results of real competitions of cooperative mini-sumo battlefield as an example of localization and mapping while collaborative problem solving in uncharted environments

Anahtar Kelimeler

Friend or Foe, Cooperative Robotics, Positioning, Battlefield, Mini-sumo

Kaynakça

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