RC09Brainstorm
From GT RoboJackets
Contents |
Brainstorm Page for 2009
This page represents long term research ideas which, for the most part, will not be included initially in the 2009 system.
Overall Goals
- Multi-agent system (no central controller)
- Each robot has access to the complete state of its teammates through a high-bandwidth communications channel
- Robots coordinate actions and plays as a group via some sort of arbitration
- Robots can also act as independent agents to exploit opportunities
Electrical
On Robot Controller
- Embedded Linux
- Fwd-looking ball sensor (if not implemented in 2008)
- Higher-bandwidth radios
Communication
- Higher-bandwidth
- Possible schemes
- 802.11 UDP Each robot has unique IP. (could be slow)
- Daisey Chained
- Time multiplexing - Lead robot sends a sync. Robots then go one after the other transmitting their info to all robots. Whichever robot is supposed to receive the information picks it up.
- Other ideas?
Other
- Pancake Solenoid
Mechanical
Drive Train
- Internal Gears
- Reuse of Omni wheels
Software
Coordination
In order be effective the robots will need to coordinate action amongst themselves. Some sort of voting or arbitration can be used to determine which robot will take on an action or role at a given time.
Grid
- overlay a grid on the field and assign values to that grid based on positions and movements of us and the opponents
- quantitative analysis of space and position which is important in general soccer strategy
- parameter for deciding which plays and when
- can lead to an informed decision which robot to use as lead in a play
