Ferat Sahin


This paper presents architecture for a modular micro robotic platform for swarm intelligence and cooperative robotics research and applications. In a swarm the value of an individual is negligible since the goal of the swarm is essential. Thus, the agents (robots) need to be small, low cost, and cooperative. GroundScouts are designed based on these conditions. The proposed architecture slices a robot into abstract modules such as locomotion, control, sensors, communication, and actuation. Any mobile robot can be constructed by combining these abstract modules for a specific application. A modular embedded micro-OS with dynamic task uploading and multi-tasking abilities is developed. In order to create better interface between robots and the command center and among the robots. The dynamic, task uploading allows the robots change their behaviors in runtime. Thus, the robots can work in swarm, master-slave, or hybrid mode and possibly be used in other applications such as mobile sensor networks, remote sensing, and plant monitoring

Date of creation, presentation, or exhibit



2004 IEEE International Conference on Systems, Man and Cybernetics Copyright 2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. ISBN: 0-7803-8566-7Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works in February 2014.

Document Type

Conference Proceeding

Department, Program, or Center

Microelectronic Engineering (KGCOE)


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