Hologlyph Bots

Swarm Holonomic Robots for Autonomous drawing

[Code]

This project builds on the concepts developed for the E-Yantra 2023-2024 Hologlyph Bots competition, transforming it into a comprehensive DIY package for creating swarm holonomic robots. These robots excel in precise movement and collaborative tasks, enabling them to draw artistic patterns, glyphs, or mathematical shapes in a confined arena. This repository includes detailed instructions for both simulation and hardware implementation, making it an excellent starting point for enthusiasts, researchers, and hobbyists.

Project Overview

Key Features

  • Holonomic Drive: Move seamlessly in X, Y, and rotational (Z) axes for precision.
  • Swarm Robotics: Coordinate multiple robots to achieve complex tasks collaboratively.
  • Patterns: Generate shapes, glyphs, and even portraits dynamically.
  • DIY-Friendly Package: Includes simulation models, hardware assembly guides, and complete ROS-based control instructions.

How the Project Was Made

Hardware Components

  • ESP32 Microcontroller: Handles robot control and communication.
  • Omnidirectional Wheels: Enables smooth holonomic motion.
  • Overhead Camera System: For precise localization and feedback.
  • Arena Flex-Print Surface: Durable and customizable drawing surface.
  • 3D-Printed Components: Simplifies hardware assembly using STL files.

Software Components

  • ROS Humble: Controls robot movement and facilitates swarm communication.
  • Gazebo-Classic: Simulates tasks for testing and refining control strategies.
  • OpenCV: Powers vision-based localization using ArUco markers.
  • Python Libraries: For control algorithms, visualizations, and debugging.

Workflow and DIY Instructions

1. Simulation Setup

  • Start with the provided Gazebo simulation files to test robot movement and control strategies.
  • Experiment with the integrated control algorithms for holonomic motion.

2. Hardware Assembly

  • Use the provided STL files to 3D print components for the robots.
  • Assemble robots following detailed instructions, and wire components including ESP32 and motors.

3. Task Execution

  • Calibrate the overhead camera system for precise localization.
  • Upload pre-programmed control scripts to the ESP32 for artistic pattern generation.

4. Swarm Coordination

  • Test multi-robot coordination using the included ROS launch files.
  • Program custom patterns or import your designs to draw collaboratively.

Results and Highlights

Shape Drawing

On the left, Simulation shapes. Middle, Physically drawn triangle. Right, Physically drawn rectangle.

Arena with Robots

On the left, Perspective transformed arena. Right, Complex pattern.

Submission and Demonstrations

Acknowledgments

E-Yantra 2023-2024 Robotics Competition.