Brief Summary

Research Interest
My research interests lie in the intersection of Robotics, Automation and Control. Specifically, I am interested in the following topics / areas: 
  • Control Systems
  • Industrial Control and Automation
  • Programmable Logic Controller
  • Robotics - Industrial Manipulator, Swarm Robots 
  • Sensor Networks
  • Industrial Devices Communication - Mod-Bus, Profibus
  • Vision System
  • Machine Learning

PhD Research: UB Swarm System - Design, Built and Implementation of Heterogeneous Robots Swarm.

Adviser: Prof. Tarek Sobh

  Swarm robotics is one the most fascinating and new research areas of recent decades, and one of the grand challenges of robotics is the design of swarm robots that are self-sufficient. This can be crucial for robots exposed to environments that are unstructured or not easily accessible for a human operator, such as a collapsed building, the deep sea, or the surface of another planet. Developing a multi-agent robot system with novel approaches with heterogeneity and larger behavioral repertoire is a great challenge. In this work, comprehensive study of hardware architecture of homogeneous robot swarm and several problems related to the important aspects of robots hardware, such as: sensor fusion, communication among the modules, hardware components has investigated. Since this early research in swarm robotics, the field has grown rapidly, dramatically with a much wider topics being analyzed and addressed.  Prior to this, most of the research had concentrated on software designing, algorithms implementation which did not involve the hardware components of the robot swarm system. A general question in designing the hardware architecture of robot swarms is whether a specialized hardware needed for each task or whether more general hardware architecture can be developed which can be used for wide range of application. Is homogeneous hardware architecture of robot swarms effective enough for localization, mapping, exploring, and rescue? Most of the works so far demonstrated in swarm robots have been achieved using the homogeneous robots. These homogeneous robot modules are identical in size, shape and implemented using the same kind of hardware components. Can we use homogeneous robot swarms in real time constraints to work under the unknown environment by increasing the complexity of task? There are other issues related to the hardware design of the swarm robots such as size, cost, weight, flexibility and task efficiency. To solve these open issues in the swarm robots is great challenge for the researchers and its keeping them busy to overcome new heterogeneous hardware structure.

    To address this problem, I have proposed novel hardware architecture of heterogeneous robots swarm. I have design and built team of heterogeneous robots that can be used for real life applications as well as for research purpose. The proposed work shows the implementation of heterogeneous swarm robot, as they consist of different sensory units, different communication units on each modules, which is distinct from other platforms. The UB swarm of heterogeneous robots devises a hybrid distributed system that overcomes the drawbacks of both centralized and decentralized schemes. The proposed heterogeneous swarm robot can carry out a large number of tasks simultaneously with simpler and cheaper robots than if more sophisticated robots were used to conduct each separate task. 

The proposed hardware architectural design provides a non-expert user with an accessible yet very robust robotic platform on which to further add and develop complex robotic functions, actuators, sensing devices and task descriptions without having to design or delve deeply and create complicated software, firmware. This swarm robot system architecture can offer additional capabilities and functionality such as self-organizing, self-reconfigurability; which are useful for the accomplishment of concrete tasks.     
    



ASEE Zone 1 Conference - 04/05/2014





Journal Publication_Hindawi Publication




ASEENE14_SwarmRobot Hardware