AN APPROACH OF IR-BASED SHORT-RANGE CORRESPONDENCE SYSTEMS FOR SWARM ROBOT BALANCED REQUISITIONS AND COMMUNICATIONS

International Journal of Artificial Intelligence and Applications (IJAIA), Vol. 7, No. 4, July 2016
DOI: 10.5121/ijaia.2016.7402 15
AN APPROACH OF IR-BASED SHORT-RANGE
CORRESPONDENCE SYSTEMS FOR SWARM ROBOT
BALANCED REQUISITIONS AND COMMUNICATIONS
Rafiqul Islam ,Iftekharul Mobin , Md. Nazmus Shakib, Md Matiur Rahman
Department of Computer Science and Engineering
University of Liberal Arts Bangladesh (ULAB)
House No. 56, Road No. 4/A, Satmasjid Road, Dhaka 1209, Bangladesh
ABSTRACT:
This paper exhibits a short-run correspondence method appropriate for swarm versatile robots application.
Infrared is utilized for transmitting and accepting information and obstruction location. The infrared
correspondence code based swarm signaling is utilized for an independent versatile robot communication
system in this research. A code based signaling system is developed for transmitting information between
different entities of robot. The reflected infrared sign is additionally utilized for separation estimation for
obstruction evasion. Investigation of robot demonstrates the possibility of utilizing infrared signs to get a
solid nearby correspondence between swarm portable robots. This paper exhibits a basic decentralized
control for swarm of self-collecting robots. Every robot in the code based swarm signaling is completely
self-governing and controlled utilizing a conduct based methodology with just infrared-based nearby
detecting and correspondences. The viability of the methodology has been checked with simulation, for a
set of swarm robots.
KEYWORDS:
Robot Communication, Swarm robotics, IR communication, Arduino, Robot Agent, Infrared, Collective
behavior, Decision-making.
1. INTRODUCTION:
Nowadays swarm robots have become interesting fields. In this work we developed an IR-based
swarm robot communication. IR has also become another medium of communication. Here we
used IR because this allows the robot to minimize the power consumption. It needs very little
amount of energy to operate. Each robot can detect another robot (homologous) and communicate
with each other. Each robot can also avoid obstacle. After observing the environment each robot
can get reliable information about other robot and obstacle and their position in the environment.
Swarm robots are a large number of collective agents and they work cooperatively to solve
different task. One robot can recognize the other homologous robot through emitted IR radiation.
Each robot can take decision based on observing the environment and analyzing it. They can
communicate themselves according to their needs and to full-fill their purpose. The robot that are
sent out alone or in non-cooperative pairs there is a high risk of failure. In this case swarm robot
can be sent out on a mission with a high level of confidence.

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In swarm robotics research we experienced numerous issues, for example, coordination rules
aggregate basic swarm leadership [1] with scientific and algorithmic approaches [1-5]. All the
more for the most part, these issues are identified with various fields of AI [5] and outlining of
swarm robotics [6], [7] e.g. through exemplification in any case every one of these instruments
work just when robots are associating [8].
There are a few methods for how the robots can cooperate: robots watch environment and the
conduct of different robots, physical association, backhanded cooperation trough environment or
they impart. Since the micro robots are confined in detecting and calculation, this method for
associating group of swarms will be appropriate [4]. There are works on e.g. acknowledgment of
robots by transmitted IR-radiation [8], shading observation then again utilizing impacts as
connections among robots.
Complex psychological and behavioral systems are incomprehensible without correspondence.
Creating correspondence systems for certain groups of swarm [9] experiences couple of issues for
implementation. In the first place of all, robots have just constrained correspondence sweep. This
permits maintaining a strategic distance from the issue of correspondence flood swarms (100+
robots), be that as it may opens the issue of proliferating the applicable data over the swarm. This
data concerns e.g. vitality assets, behavioral objectives, threats and so on. Robots are confined in
equipment for utilizing calculations and conventions known in the area of dispersed frameworks
[10]. Thusly new ideas and new conventions ought to be produced for the swarm correspondence.
Not just programming conventions, additionally correspondence equipment ought to be adjusted
to the need of expansive scale swarms. This essentially concerns a multi-channel hardware for
omni directional swarm neighborhood correspondence, utilizing of low-level signs, streamlining
of the transmitted vitality and arrangement of directing issue [11]. We say that exclusive a great
interchange between equipment, programming and robots conduct permits a solid data move in a
swarm mechanical autonomy frameworks are described by decentralized control, constrained
correspondence between robots, use of neighborhood data, and development of worldwide
conduct. Such frameworks have demonstrated their potential for adaptability and power [1]–[3].
In any case, existing swarm mechanical autonomy frameworks are all things considered still
constrained to showing basic verification of idea practices under lab conditions. Swarm robots
must grasp heterogeneity that they ever need to approach the intricacy required of frameworks. To
date, swarm mechanical technology frameworks have only contained physically, behaviorally
undifferentiated specialists[13]. This configuration choice has its roots in code based swarm
signaling models of self-sorting out characteristic frameworks. These models serve as motivation
for swarm mechanical technology code based swarm signaling architects, yet are regularly
exceptionally conceptual rearrangements of characteristic frameworks. Chosen elements of the
frameworks under study are appeared to rise up out of the communications of indistinguishable
code based swarm signaling parts, disregarding the heterogeneities (physical, spatial, practical,
and instructive) that one can discover in any common framework [14] [15]. The field of swarm
mechanical technology presently needs techniques and instruments with which to study and
influence the heterogeneity that is available in characteristic frameworks. To cure this lack, we
propose a code based infrared IR communication system, a creative swarm mechanical
technology code based swarm signaling made out of three distinctive robot sorts with correlative
abilities. So that the root can operate as self-governing robots spent significant time in proceeding
onward both even and uneven landscapes, fit for self-collecting and of transporting objects; self-
sufficient fit for climbing some vertical surfaces and controlling little protests. Also can be
appended for investigating the earth from an advantaged position.

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2. LITERATURE REVIEW:
A group of mobile robots builds one pile from some randomly distribute object[15],[16]. The
mobile robots group coordinates with indirect communication through sensing and modification
of the local environment which determine the agent behavior from Local Action to Global Task. A
multiple robots system performs their task without centralize control or explicit communication.
Mobile robots able to achieving simple collective task and verify result by simulation. The result
suggests cooperative task requiring collective behavior without explicit communication [17].
Jasmin robot allows huge scale swarm system investigate artificial self organization, control large
robotic group [18]. For later development from 2007-2010 revise these idea swarm artificial
where include evolutionary robotics, online embodied evolving, system capable structure
modification and general field of adaptive system [19]. This facilitate more embodied cognition
on swarm and collective robots.- IR-based Communication and Perception in Micro-robotic
swarm. Swarm mobile robots application used short range communication technique [18], [19].
In swarm robotics infrared is used to transmitting and receiving data packet and obstacle
detection. This swarm robots application use PCM (Pulse-Code-Modulation) digital scheme for
transmitting data [20]. Communication with mobile robots by infrared signal which is depends on
robots behavior [21]. For Collective combined behavior use custom range and bearing system
base on cascaded filtering technology implemented by infrared frequency communication.
Infrared Range and Bearing system for Collective Robots [21]. For observation mobile combined
behavior use 360-degree observation capability which identification of neighboring robots from
object and their position. For observation use DRIr (Dual Rotating Infrared) sensor which is
based on algorithm. Sensor provides real time location such as Dual Rotating Infrared. Similar
robotics application of combined behavior is implemented by Melhuish. For our application we
used infrared for communication [20], [21].
3. EQUIPMENT USES:
Most of the equipment used in this work is related to the
3.1ARDUNIO UNO:
Ardunio Uno is a micro-controller board based on the ATmega328P. It has 14 digital input/output
pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB
connection, a power jack, an ICSP header and a reset button. It contains everything needed to
support the microcontroller; simply connect it to a computer with a USB cable or power it with an
AC-to-DC adapter or battery to get started.

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Fig 1.1: Ardunio Unu [23]
3.2 IR COMMUNICATION:
IR, or infrared, communication is a common, inexpensive, and easy to use wireless
communication technology. IR light is very similar to visible light, except that it has a slightly
longer wavelength. This means IR is undetectable to the human eye - perfect for wireless
communication.
3.3 IR TRANSMITTER:
The IR transmitter consists of the LED that emits the IR(Infra Red) radiation. This is received by
the photo diode, which acts as IR receiver at the receiving end.
Fig 1.2: IR Transmitter[24]

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3.4 IR RECEIVER:
An infrared receiver, or IR receiver, is hardware that sends information from an infrared remote
control to another device by receiving and decoding signals. In general, the receiver outputs a
code to uniquely identify the infrared signal that it receives.
Fig 1.3: IR receiver[25]
4. FLOW CHART

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Flowchart Description:
After starting swarm robot, at first each swarm robot emits IR radiation spontaneously through IR
transmitter. IR receiver will receive the IR signal. If it receives the same IR signal which it sent
then it will decide there are obstacle in-front of it. If it receive different IR signal then check the
list. If the list contains this IR signal then it will take decide there are Homologous Robot in-front
of it. Now it is ready to communicate with them. If list does not contain the received IR then it
will take decision there are other IR transmitting source here.
5. CIRCUIT BLOCK DIAGRAM:
Fig 1.4: Block Diagram
In this block diagram there are two Ardunio are used for describing IR communication between
swarm robots. Each Ardunio contain one IR transmitter/sender and one IR receiver. Left side
Ardunio, IR sender's one pin is connected to the ground pin of Ardunio and another one is
connected to Ardunio's Digital Pin 3.
Right side Ardunio, IR receiver's one pin is connected to 5 volt of Ardunio another one is
connected to the ground of Ardunio and other one pin is connected to the Ardunio's digital pin 3.

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6. PSEUDO CODE:
At first initialize the total number of homologous swarm robot/agent which will operate in the
environment. Each robot will be given a unique identification number which distinguish them
from others. The condition of while loop is true. It will execute infinitive time. The scope of
while loop will execute infinitive time. Here it will emit IR code. Then IR receiver will receive
the IR code. If it receive the same IR code then obstacle will found. If it receives different IR then
check the IR code in list which is initialize first time. If received IR code matched with the list
then the robot is familiar. Now it is ready to communicate with it. If it receives other IR code then
it will decide other IR sources are existing in the environment. On the other hand if it does not
receive any IR code then it will decide there are no obstacle in-front of it and no homogeneous
robot in the environment.
7. METHODOLOGIES AND PROTOCOL:
Here, we develop a protocol for communication. Each robot sends a request to another robot for
communication. If another robot is homologous robot then it accepts the request and they
communicate each other by sending IR signal. Synchronize illustration: This protocol
demonstrate how a gathering of robots can convey about headings where they are indicating
encompassing neighbors and wind up adjusted towards the same course. In a complete circle, the
robots attempt to:
i) Send data: Because of the quantity of robots, every robot will first send his own ID, and after
that his own heading identified with the robots from which it has got a message.
ii) Listen for a few transmissions and unravel the messages. In the event that a message is an ID,
it will store the heading where it comes from. On the off chance that the message is an
introduction tended to it, it will change the introduction, as indicated by this new data.

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7.1 INVESTIGATION:
Wrong messages got, or messages not got. Robots transmit the same infrareds. So when a few
robots attempt to send in the same time, most likely get just wrong messages. IR interchanges are
marginally touchy to light conditions. On the off chance that need to draw near to 0 messages
lost, attempt to work with controlled light, discharging couple of infrareds, and without motions.
The infrared on utilized is set to a high need which may supersede others. To adapt these issues of
timing, we have executed a period counter inside Arduino code. The algorithm provides exact
timings.
7.2 IR EMISSION PROCESS:
The first phase is IR transmission. Each robot is equipped with an IR transmitter and it will
continuously emit IR. Here it sends particular data through IR transmitter. IR transmitter is use
for two purposes. First reason, Detecting Obstacle; second reason, Communication purpose.
7.3 IR RECEIVING PROCESS:
IR receiver is used for receiving IR. Every robot has one IR receiver. Each robot receives IR data
then matches it with its database. If it receives the same IR data that it sends in this case there is
an obstacle in front of this robot. That’s why it receives the same data which is reflected to the
obstacle. If robot receives different data then it compares the data with its database. If it matches
in this case another homologous robot is found. Now it can communicate with that robot.
Otherwise it does not interest to communicate.
8. CONCLUSION
In this work we exhibited swarm robotics equipment set up and programming issues concerning
IR-based communication and correspondence. We have demonstrated that few challenges made
by constrained equipment capacities can be effectively overcome. The purpose of the exhibited
investigations is identified with exemplification. This ought to make another motivation towards
reconfigurable and developmental methodologies for swarm robot communication system. To this
end, it is important to create apparatuses and procedures that empower the utilization of swarm
robot communication for heterogeneous frameworks. We recognized significant issues and
challenges, specifically highlighting the trouble of conveying the firmly incorporated automated
equipment to empower physical and behavioral communication between various robot sorts.
9. FUTURE PLAN
Our future plan is to add more functionality with each swarm robot. To add GPS and IoT (
Internet of Things) device with them so that they can be track anywhere in the world. To add
mechanical hand with them so that they can do any work more efficient manner. Our future plan
is to apply Artificial Neural Network in swarm robotics. But it will be a very challenging task.
This swarm robot can be sent any environment they can adapt themselves. They can learn from
their experience and become completely autonomous.
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Biography
Rafiqul Islam is a student in computer science and Engineering department of University of Liberal Arts
Bangladesh(ULAB). He is an undergraduate student. His research interests are Embedded system, Artificial
Intelligence,Artificial Neural Network, Linked Data,Digital Image Processing. He likes ACM
programming.
Iftekharul Mobin is an Assistant Professor in computer Science and Engineering department of University
of Liberal Arts Bangladesh (ULAB). He obtained his doctor's degree from the School of Electronic
Engineering of Queen Mary, University of London in 2014. He completed his B.Sc in Computer Science
and Information Technology (CIT) from Islamic University of Technology (IUT), Gazipur, Bangladesh in
2008. After his PhD he worked in a Telecommunication service provider company Natterbox Ltd in
London as a researcher and developer in company R&D. His current research interests are artificial
Intelligence, Embedded systems, Wireless Ad hoc Networks, Smart devices Robotics and sensor based
technologies. He is the founder of wireless sensor and Robotics lab in ULAB. Dr. Mobin is an author and
co-author of many International Journals and conference papers. He is currently professional member and
student branch coordinator of IEEE in ULAB.
Md. Nazmus Shakib is a student in computer science and Engineering department of University of Liberal
Arts Bangladesh(ULAB). He is an undergraduate student . He passed HSC from Naogaon Govt: College.
His research interests are Embedded system.
Md Matiur Rahman is a student in computer science and engineering department of University of Liberal
Arts Bangladesh(ULAB). He is an undergraduate student. His research topics is Digital Image Processing,
Artificial Intelligence , Wireless Communication.

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