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Proceedings Paper

SMARBot: a modular miniature mobile robot platform
Author(s): Yan Meng; Kerry Johnson; Brian Simms; Matthew Conforth
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Paper Abstract

Miniature robots have many advantages over their larger counterparts, such as low cost, low power, and easy to build a large scale team for complex tasks. Heterogeneous multi miniature robots could provide powerful situation awareness capability due to different locomotion capabilities and sensor information. However, it would be expensive and time consuming to develop specific embedded system for different type of robots. In this paper, we propose a generic modular embedded system architecture called SMARbot (Stevens Modular Autonomous Robot), which consists of a set of hardware and software modules that can be configured to construct various types of robot systems. These modules include a high performance microprocessor, a reconfigurable hardware component, wireless communication, and diverse sensor and actuator interfaces. The design of all the modules in electrical subsystem, the selection criteria for module components, and the real-time operating system are described. Some proofs of concept experimental results are also presented.

Paper Details

Date Published: 14 April 2008
PDF: 9 pages
Proc. SPIE 6943, Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VII, 694306 (14 April 2008); doi: 10.1117/12.782516
Show Author Affiliations
Yan Meng, Stevens Institute of Technology (United States)
Kerry Johnson, Stevens Institute of Technology (United States)
Brian Simms, Stevens Institute of Technology (United States)
Matthew Conforth, Stevens Institute of Technology (United States)


Published in SPIE Proceedings Vol. 6943:
Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VII
Edward M. Carapezza, Editor(s)

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