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<!DOCTYPE html>
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<html class="no-js lt-ie9 lt-ie8 lt-ie7">
<![endif]-->
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<html class="no-js lt-ie9">
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<head>
<!-- BASICS -->
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
<link rel="icon" type="image/png" href="http://swarm-iitkgp.github.io/favicon.ico">
<title>Swarm IIT Kharagpur</title>
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<body>
<div style="width: 100%; height: 720px;"
data-vide-bg="video/swarm" data-vide-options="loop: true, muted: true, position: 0% 0%">
<!-- <section id="header" class="appear"></section> -->
<div class="navbar navbar-fixed-top" role="navigation" data-0="line-height:100px; height:100px; background-color:rgba(0,0,0,0.3);" data-300="line-height:60px; height:60px; background-color:rgba(0,0,0,1);">
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<h1><a class="navbar-brand" href="index.html" data-0="line-height:90px;" data-300="line-height:50px;"> Swarm IIT Kharagpur
</a>
</h1>
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<div class="navbar-collapse collapse">
<ul class="nav navbar-nav" data-0="margin-top:20px;" data-300="margin-top:5px;">
<li class="active"><a href="index.html">Home</a></li>
<li><a href="#section-about">Overview</a></li>
<li><a href="#section-team">Team</a></li>
<li><a href="#section-description">Project Description</a></li>
<li><a href="#section-join">Join Us</a></li>
<li><a href="#section-contact">Contact</a></li>
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<section class="featured">
<div class="container">
<div class="row mar-bot40">
<div class="col-md-6 col-md-offset-3">
<div class="align-center">
<img src="swarm.png">
<h2 class="slogan">IIT-KGP </h2>
<h2 class="slogan-new">Swarm Robotics</h2>
<h2 class="slogan">Group</h2>
<p>
We are a group of enthusiastic, motivated students interested in exploring the contemporary field of distributed algorithms for robot swarms, and their implementation.
</p>
</div>
</div>
</div>
</div>
</section>
</div>
<!-- Section: general info / about -->
<section id="section-about" class="section pad-bot30 bg-white">
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<div class="row mar-bot40">
<div class="col-lg-4" >
<div class="align-center">
<i class="fa fa-code fa-5x mar-bot20"></i>
<h4 class="text-bold">What is Swarm Robotics?</h4>
<p>Swarm robotics is the study of how to design groups of robots that operate without relying on any external infrastructure or on any form of centralized control.
</p>
</div>
</div>
<div class="col-lg-4" >
<div class="align-center">
<i class="fa fa-terminal fa-5x mar-bot20"></i>
<h4 class="text-bold">Why Swarm Robotics?</h4>
<p>Swarm robotics is a major contemporary field of application and research in institutes around the world, not to mention a vastly untapped one in India. The potential for use in the industry as well as for non-commercial purposes is great.
</p>
</div>
</div>
<div class="col-lg-4" >
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<i class="fa fa-bolt fa-5x mar-bot20"></i>
<h4 class="text-bold">Objective</h4>
<p>The aim of this project is to design a team of co-ordinating robots which use swarm intelligence to achieve a number of objectives related to navigation and mapping.
</p>
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<h5>
<!-- Please check the links above or scroll down to know more about our project, the problem statements, and the team involved. -->
We are advised by <a href="http://cse.iitkgp.ac.in/~pallab/" target="_blank">Prof. Pallab Dasgupta</a> of the Department of <a>Computer Science and Engineering</a>, and are funded by the <a>Sponsored Research and Industrial Consultancy</a> group of <a>IIT Kharagpur</a>. The principal investigator for this project is <a href="http://www.facweb.iitkgp.ernet.in/~smsh/" target="_blank">Prof. Somesh Kumar</a>, President, <a>Technology Students' Gymkhana</a>.
</h5>
<br/>
<!-- <span class="author">— MIKE DOE <a href="#">www.siteurl.com</a></span> -->
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<div class="section-header">
<h2 class="section-heading animated" data-animation="bounceInUp">Coordinated Exploration with Multi-Robot Swarms</h2>
<p>Our work encompasses the artificial intelligence and software, as well as the communication and embedded system operations necessary to demonstrate swarm behaviour and perform certain collective tasks such as coverage, patrolling, exploration and mapping.
</p>
</div>
</div>
</div>
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<!-- Map. Explore. Patrol. -->
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<div class="container">
<h2><b>Project Description:</b></h2>
<ul class="nav nav-pills">
<li class="active"><a data-toggle="tab" href="#software">Software Team</a></li>
<li><a data-toggle="tab" href="#embedded">Embedded Team</a></li>
</ul>
<div class="tab-content">
<div id="software" class="tab-pane fade in active">
<h3><u>SOFTWARE TEAM</u></h3>
<div class="body-description">
The software team is responsible for designing and implementing the algorithms and distributed intelligence to be used by the swarm robots for performing the task. They are also involved in simulating the algorithms and other operations for testing, verification and visualization purposes.
Some of the current areas of focus are:
</div>
<br>
<ul class="nav nav-pills nav-stacked">
<li class="active"><a data-toggle="pill" href="#terrain">Terrain Coverage</a></li>
<li><a data-toggle="pill" href="#pose">Pose Estimation</a></li>
<li><a data-toggle="pill" href="#mapp">Multi-Agent Path Planning</a></li>
<li><a data-toggle="pill" href="#simu">Simulation on ROS and Gazebo</a></li>
</ul>
<br>
<div class="tab-content">
<div id="terrain" class="tab-pane fade in active body-description">
<h4><b>Terrain Coverage</b></h4>
<p>Given the known environment, the swarm agents should spread themselves out across the terrain so as to minimize the average distance of any point on the terrain from its nearest swarm agent. We utilize Lloyd’s algorithm, which is a continuous-time descent method, to achieve this goal, known as Centroidal Voronoi Tessellation. Further analysis needs to be done when there are obstacles in the arena, i.e. when the environment becomes non-convex. Click <a href="https://goo.gl/J5gL8S" target="_blank" class="tweak">here</a> for a short video of that method.</p>
<img src="img/desc/cvt.png">
</div>
<div id="pose" class="tab-pane fade body-description">
<h4><b>Relative Pose Estimation</b></h4>
<p>In order to better localize themselves, considering the absence of any central controller, swarm agents need a reliable estimate of the relative poses of their nearby co-agents. On the software side, we are currently attempting to do this via AprilTags as fiducial markers.</p>
<img src="img/desc/apriltags.png">
</div>
<div id="mapp" class="tab-pane fade body-description">
<h4><b>Multi Agent Path Planning</b></h4>
<p>The manner of movement of a swarm of robots has some important distinctions from that of a single one. Some of the important things to consider are mutually avoiding each other, moving in a constrained manner since individual agents should avoid drifting too far away from each other. We are currently working on Artificial Potential Fields which provids a simple and effective solution to path planning problem in dynamic environments such as in case of swarm robots.</p>
<img src="img/desc/apf_a.png" height=450>
<img src="img/desc/apf_b.png" height=450>
</div>
<div id="simu" class="tab-pane fade body-description">
<h4><b>Simulation on ROS and Gazebo</b></h4>
<p> All the tasks are implemented on ROS (Robot Operating System) and visualized through the Gazebo simulator. This is an essential step for being able to check for possible errors in implementation and observe how the system behaves in various environments.</p>
<img src="img/desc/simu.png" height=450>
</div>
</div>
</div>
<div id="embedded" class="tab-pane fade in">
<h3><u>EMBEDDED TEAM</u></h3>
<div class="body-description">
The work of the embedded team ensures reliable motion, communication and localization by each swarm agent, without which the distributed algorithms cannot properly function in the real world. Some of their focus points are:
</div>
<br>
<ul class="nav nav-pills nav-stacked">
<li class="active"><a data-toggle="pill" href="#relpose">Relative Pose Estimation</a></li>
<li><a data-toggle="pill" href="#comm">Communication</a></li>
<li><a data-toggle="pill" href="#odom">Reliable Locomotion and Odometry</a></li>
</ul>
<br>
<div class="tab-content">
<div id="relpose" class="tab-pane fade in active body-description">
<h3><u>Relative Pose Estimation</u></h3>
<p>Localization in a swarm system, in the absence of a GPS or other global signal, is a difficult task. One way to leverage the multiplicity of the system is to have the agents transmit their relative poses to every other agent, and aggregate these readings to obtain a good estimate of their global pose, assuming they know where they started from. We are exploring a number of methods to achieve this - such as transceiver modules and rotating SHARP encoders. This is parallel to the work being done on this from the software side.</p>
<img src="img/desc/relpose.jpg" height=450>
</div>
<div id="comm" class="tab-pane fade body-description">
<h3><u>Communication</u></h3>
<p>The swarm agents are an example of distributed message passing systems - the messages they exchange are chunks of data with information about the sender’s ID, timestamp, pose and so on. These messages must be sent in a synchronous manner, and be utilized accordingly by the receivers.</p>
<img src="img/desc/comm.jpg" height=450>
</div>
<div id="odom" class="tab-pane fade body-description">
<h3><u>Reliable Locomotion and Odometry</u></h3>
<p>The final motion executed by each swarm robot should be reliable and robust to error and environmental irregularities. Furthermore, the movement of the wheels allows for tracking of the relative motion from the starting point, which can then be corrected by error reduction and using relative poses from other agents. The team uses PID on encoder motors for these purposes.</p>
<img src="img/desc/locodom.jpg" height=450>
</div>
</div>
</div>
</div>
</section>
<!-- section team -->
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<div class="section-header">
<h2 class="section-heading animated" data-animation="bounceInUp">Team</h2>
<p>Our team consists of members from a multitude of backgrounds. The team is divided into two subteams: Software and Embedded.</p>
</div>
</div>
</div>
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<nav id="filter" class="col-md-12 text-center">
<ul>
<li><a href="#" class="current btn-theme btn-small" data-filter="*">All</a></li>
<li><a href="#" class="btn-theme btn-small" data-filter=".software" >Software</a></li>
<li><a href="#" class="btn-theme btn-small" data-filter=".embedded">Embedded</a></li>
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<article class="col-md-2 isotopeItem software">
<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/Shushman.jpg" alt="" /></figure>
<div class="team-detail">
<h4>Shushman Choudhary</h4>
<span>Alumnus (Founder)</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/Soumyadeep.jpg" alt="" /></figure>
<div class="team-detail">
<h4>Soumyadeep Mukherjee</h4>
<span>Alumnus (Project Head)</span>
</div>
</div>
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<article class="col-md-2 isotopeItem software">
<div class="team-member align-center">
<figure class="member-photo"><img src="img/team/KK.jpg" alt="" /></figure>
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<h4>Kumar Krishna Agarwal</h4>
<span>Alumnus</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem embedded">
<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/Rishal.jpg" alt="" /></figure>
<div class="team-detail">
<h4>Rishal Raj</h4>
<span>Alumnus</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
<div class="team-member align-center">
<figure class="member-photo"><img src="img/team/Roy.jpg" alt="" /></figure>
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<h4>Mayank Roy</h4>
<span>Project Head</span>
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<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/Ankit.jpg" alt="" /></figure>
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<h4>Kumar Ankit</h4>
<span>Head, Embedded Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/Shivang.jpg" alt="" /></figure>
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<h4>Shivang Agrawal</h4>
<span>Head, Software Team</span>
</div>
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<h4>Aman Chandra</h4>
<span>Head, Embedded Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/Spandan.jpg" alt="" /></figure>
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<h4>Spandan Kumar Sahu</h4>
<span>Head, Software Team</span>
</div>
</div>
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<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/NilayPochhi.jpg" alt="" /></figure>
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<h4>Nilay Pochhi</h4>
<span>Member, Software Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/Surya.jpg" alt="" /></figure>
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<h4>Surya S Dwivedi</h4>
<span>Member, Software Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
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<figure class="member-photo"><img src="img/team/koushik.jpg" alt="" /></figure>
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<h4>Koushik Meneni</h4>
<span>Member, Software Team</span>
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</div>
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<article class="col-md-2 isotopeItem software">
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<figure class="member-photo"><img src="img/team/Amegh.jpg" alt="" /></figure>
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<h4>Amegh Bhavsar</h4>
<span>Head, Software Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/moin.jpg" alt="" /></figure>
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<h4>Moin Shaikh</h4>
<span>Member, Software Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem embedded">
<div class="team-member align-center">
<figure class="member-photo"><img src="img/team/Pathak.jpg" alt="" /></figure>
<div class="team-detail">
<h4>Amit Pathak</h4>
<span>Head, Embedded Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/Rajdeep.jpg" alt="" /></figure>
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<h4>Rajdeep Choudhury</h4>
<span>Member, Software Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem embedded">
<div class="team-member align-center">
<figure class="member-photo"><img src="img/team/haque.jpg" alt="" /></figure>
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<h4>Haque Farazul</h4>
<span>Member, Embedded Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem embedded">
<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/umang.jpg" alt="" /></figure>
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<h4>Umang Agarwal</h4>
<span>Member, Embedded Team</span>
</div>
</div>
</article>
<article class="col-md-2 isotopeItem software">
<div class="team-member" align="center">
<figure class="member-photo"><a href="http://www.github.com/theerdha"><img src="img/team/theerdha.jpg" alt="" /></a></figure>
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<h4>Sree Theerdha</h4>
<span>Member, Software Team</span>
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</div>
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<article class="col-md-2 isotopeItem software">
<div class="team-member" align="center">
<figure class="member-photo"><img src="img/team/Muskaan.jpg" alt="" /></figure>
<div class="team-detail">
<h4>Muskaan Jain</h4>
<span>Member , Software Team</span>
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