SYMROP
Multi Robot Framework for Cooperation of Robots
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What is SYMROP?
What is SYMROP?
SYMROP is a multi-robot framework designed for efficient inter-robot communication. Developed with support from the Mitou Project in 2006, SYMROP was showcased at IPAX 2007 and the Nii Open House 2007.
Overview
Overview
SYMROP simplifies the programming of cooperative tasks for multiple robots. This framework enables seamless robot collaboration through an ad-hoc network, eliminating the need for a central server. SYMROP also features a novel ad-hoc wireless communication protocol optimized for multi-robot environments. Developers can easily create cooperative multi-robot programs by utilizing SYMROP's provided interface.
Framework
Framework
SYMROP provides a flexible framework for coordinating multi-robot systems. This framework is built around a set of core multi-robot command interfaces that facilitate collaboration between robots.
Multi-Robot Command Interfaces
Multi-Robot Command Interfaces
These interfaces define the fundamental actions that robots can perform collaboratively:
DoSingleAction: Selects the most suitable robot (based on provided criteria) to execute a single action.
DoMultipleAction: Assigns a sequence of actions to the most appropriate robots based on specified evaluation criteria.
SyncAll: Synchronizes robots by having them repeat an action until a specified condition is met by all robots.
WaitAllAndDo: Delays an action until all robots satisfy a predefined condition, ensuring coordinated execution.
AllDo: Triggers all available robots to perform a specified action simultaneously.
Expandability
Expandability
SYMROP is designed for extensibility. Developers can create custom multi-robot commands by inheriting from the provided command interfaces. This allows for the implementation of complex cooperative behaviors tailored to specific application requirements. SYMROP's core framework then manages the execution of these custom commands.
Original Ad-hoc wireless communication protocol
Original Ad-hoc wireless communication protocol
SYMROP addresses the challenges of communication in dynamic multi-robot environments by utilizing a novel, robust communication protocol. This protocol was specifically designed to handle the unstable network conditions often present in such scenarios, where:
Products
Products
SYMROP addresses the challenges of communication in dynamic multi-robot environments by utilizing a novel, robust communication protocol. This protocol was specifically designed to handle the unstable network conditions often present in such scenarios, where:
- Multi-robot monitoring system
SYMROP features a comprehensive monitoring system that provides real-time insights into the status and operation of your multi-robot system. This system allows you to:
Track Robot Locations: Visualize the real-time positions of all robots within the operational environment.
Monitor Robot Conditions: Access critical information about each robot's status, including battery levels, sensor readings, and operational state.
Visualize Communication Ranges: Display the radio communication range of each robot, helping to identify potential connectivity issues.
Analyze Network Traffic: Capture and analyze network packets to diagnose communication problems and optimize network performance.
Identify Operational Areas: Visualize the areas where robots are currently operational and accessible.
Send Manual Commands: Intervene and send commands directly to individual robots or groups of robots for manual control or testing.
2. Multi-robot administration kits
2. Multi-robot administration kits
SYMROP is designed to run on low-cost, resource-constrained hardware, making it accessible for a wide range of applications. Key features of the SYMROP hardware include:
Integrated Software: Comes pre-installed with the SYMROP framework and supports the execution of client applications developed for the platform.
Robot Simulation: Provides built-in functionality for simulating robot activities, enabling testing and development without requiring physical robots.
Cost-Effective Design: Utilizes readily available and affordable components, including:
Zigbee Communication: Employs Zigbee technology for low-power, wireless communication between robots.
Efficient Memory Footprint: Operates efficiently with minimal memory resources (4KB RAM, 128KB ROM), making it suitable for small embedded systems.
Demo
Demo
DEMO～ Repairing building agent system by SYMROP～
DEMO～ Repairing building agent system by SYMROP～
This demonstration showcases the capabilities of SYMROP in coordinating a team of robots to autonomously patrol an area and perform cooperative building repair.
Scenario:
Scenario:
A group of robots is deployed to patrol a designated area. These robots utilize SYMROP to communicate and coordinate their actions. When a robot detects damage to a building, it alerts nearby robots. The robots then collaborate to repair the building, leveraging SYMROP's multi-robot command interfaces to efficiently assign tasks and synchronize actions.
Highlights:
Highlights:
Autonomous Patrol: Robots effectively navigate and monitor the environment.
Cooperative Repair: Robots collaborate to efficiently repair the identified damage.
Decentralized Coordination: SYMROP enables robots to work together without relying on a central controller.
Real-time Adaptation: The system dynamically adapts to changing conditions and robot availability.
About US
About US
Copyright (C) 2006-2007 Satok Systems & SYMROP
Author: Satoshi Kataoka, Computer Science at Graduate School of Information Science and Technology at University of Tokyo
Twitter (EN): http://x.com/satok_
Twitter (JP): https://x.com/satok_jp
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