Mechatronics Iterative Design for Robots Multi-agent Integration

Abstract

Robot design is a very active part of industrial activity. Mechatronics 4.0 takes its place there. For the realization of complex tasks, one often calls upon the multi-agent design of robots. Several system engineering approaches are possible and the one using rapid prototypes is among the most encountered. Iterative cycles can be used for the design of the software and also the hardware, and they allow to quickly reduce the risks of the project. Two representations of iterative cycles are frequently used. The first is of divergent type and emphasizes the means and the volume of the project. The second is of convergent type, with focus on the technical objective to be achieved. Two examples of experiments will illustrate these points of view. The first concerns a competition for robot soccer players. This experiment highlights the creation of successive software and hardware prototypes for which the emphasis has been placed here on two mechanical sub-systems. The cost of materials in rapid prototyping and the time available before the competition are important on this project. The second experimentation deals with a swarm of autonomous underwater vehicles for surveillance. The scientific and technical objectives as well as the choice of modeling methodology without continuity are essential here for iterative design.