Team Project - Rolling Swarm
- Michael Preuss
- Christoph Steup
The course will be held in English or German as requested by the participating groups of students.
All students of bachelor curriculums of the faculty are eligable to visit the course. However it is beneficial if students are familiar with at least one of the following topics:
- Programming in C++ or Python
- Technical Computer Science
- Communications and Network
- Robot Operating System (ROS)
The first meeting will be used to organize the project. We will describe the available tasks, the used system and group the interested students. The date of the Kickoff-Meeting is the 17 of October at 13:00 in G29-035. If you want to participate, this meeting is mandatory.
There will be a second Kickoff-Meeting on 23.10.18 at 13:00 in G29-035. Students need to attend only one of the two KickOff Meetings.
The course will be taken in groups of 3-4 Students per topic. The students and the groups will be chosen by us depending on your background. The individual topics are not fully fixed, extensions and modifications are possible depending on the skills and interest of participating students. This will be discussed in the first meeting. The result of each project is a working demonstration with commented source code and a written documentation indicating the general concept and a How to to start the demo.
The robots are connected to one or more PCs using Bluetooth. The PCs run the Robot Operating System (ROS). This routes the sensory information and actuation commands between your programs and the lab equipment dynamically. The position of the robots is tracked by a camera system and provides as a 2D-position with high accuracy and update rate.
Analysis of Be-Human NAO Standard Platform League Software
- Analysis of Software Structure
- Periodic Reports of Findings
- Extraction of Kicking and Walking / Running Behaviour
- Swapping of Ball and Arena-Detection
Establishing a Swarm-Behaviour API for the Sphero Robots integrated in a ROS-Environment
- Abstraktion of Capabilities of Spheros (Change Color, Move, Turn)
- Integration of Position Information provided by Camera Tracking
- Visualization Facilities
- Demo Application
Preparation of 2 alternative virtual sensor to detect the local environment surrounding a single sphero
- Design of Virtual Sensors for extended Swarm behaviours
- Examples: Laser Scanner, GPS, Barometer, Obstackle Detectors, Magnetometer
- Demo Application to indicate Sensor Behaviour
- ROS API to export and visualize Sensor Data
Building a Fighting Game AI