Collective Cognitive Robots
This ambitious project aims at creating a swarm of interacting, cognitive, autonomous robots. We will develop a swarm of autonomous underwater vehicles (AUVs) that are able to interact with each other and which can balance tasks (interactions between/within swarms). These tasks are: ecological monitoring, searching, maintaining, exploring and harvesting resources in underwater habitats. The swarm will maintain swarm integrity under conditions of dynamically changing environments and will therefore require robustness and flexibility. This will be achieved by letting the AUVs interact with each other and exchange information, resulting in a cognitive system that is aware of its environment, of local individual goals and threats and of global swarm-level goals and threats. By a combination of locally acting and globally acting self-organizing mechanisms, information from the global level flows into the local level and influences the behaviour of individual AUVs. The usage of cognition-generating algorithms can allow robotic swarms to mimic each other's behaviour and to learn from each other adequate reactions to environmental changes. In addition, we plan to investigate the emergence of artificial collective pre-consciousness, which leads to self-identification and further improvement of collective performance. In this way we explore several general principles of swarm-level cognition and can assess their importance in real-world applications.
Our main objective is to develop the CoCoRo Robotic platforms for underwater deep exploration and the floating base. This will be achieved through the accomplishment of the following sub-objectives:
- Development of the mechanical structure of the CoCoRo robots
- Development of 3D swimming robots and design and fabrication of mechanisms for propulsion
- Development of high efficinecy swimming and mechanism for buoyancy
- Development of onboard electronics, integrating control, proprioceptive sensor and communication capabilities
- Development of the pressure-waves based sensing, processing and actuation
- Integration of energy sources in the system
- Development of optimized platform
University of Graz
University of York
Universite Libre de Bruxelles
Schmickl T., Thenius R., Möslinger C., Kernbach S., Dipper T., Sutantyo D., Timmis J., Tyrrell A., Read M., Hilder J., Stefanini C., Manfredi L., Orofino O., Halloy J., Campo A., CoCoRo - The Self-aware Underwater Swarm, SASO 2011 - Fifth IEEE International Conference on Self-Adaptive and Self-Organizing Systems Ann Arbor, Michigan, USA; October 2011.
Schmickl T., Möslinger C., Thenius R., CoCoRo – A self-aware swarm of underwater vehicles, 1st Awareness Workshop @ SASO 2011 - Fifth IEEE International Conference on Self-Adaptive and Self-Organizing Systems Ann Arbor, Michigan, USA; October 2011.
Schmickl T., Thenius R., Timmis J., Tyrrell A., Halloy J., Stefanini C., Manfredi L., Campo A., Sutantyo D., Kernbach S., CoCoRo: A swarm of self-aware underwater robots, ICAR 2011 - 15th international Conference on Advanced Robotics Tallinn, Estonia, June 2011.
Schmickl T., Thenius R., Timmis J., Tyrrell A., Halloy J., Stefanini C., Manfredi L., Campo A., Sutantyo D., Kernbach S., CoCoRo: The self-aware swarm of underwater robots, IROS 2011 - IEEE/RSJ International Conference on Intelligent Robots and Systems San Francisco, California, USA; September 2011.
Godfried Jansen van Vuuren, Stefano Orofino