New trends in mobile robotics research are focused on distributed control of groups of mobile robots and on modelling of robotic systems dynamics using high performace computing. We, at the Institute of Informatics, SAS, have been dealing with designing and modelling of intelligent behaviour, emphasizing features such as coordination, cooperation and intelligent interaction among individual robots that cooperat in a shared environment. The goal is creating a decentralized multi-agent system, consisting of autonomous entities, which are able to act independently and deliberately, though still being part of a group following a common goal. In such a way, it is possible to achieve intelligent behaviour of the whole group that is beyond the limits and capabalities of its individuals. In addition, such system is more efficient, scalable, adaptive and robust, thus being suitable for relevant applications. As example, a group of robots transporting material in a production room, a group of patrolling and monitoring robots, a group performing demining missions, etc. could be mentioned.
The department is equipped with necessary hardware and software tools for modelling and simulation of discrete processes. Besides desktop PCs equipped with common software tools, there are:

Higher level efficient workstations

• Silicon Graphics INDY (OS IRIX 5.3) acquired by purchase in 1996 with support of Copernicus project “Geometric Modelling for CIM-Oriented Virtual Reality PFO-CAD”
• Workstation HP Z400 , XEON W3670, 3,2GHz, OS Windows 7
• Workstation HP Z400 Quadcore – OS Windows 7, purchased with support of the ARDF BioMRCS project No. 0216-10

Modelling and simulation tools

• MATLAB 2014a with SimEvents and Stateflow toolboxes for discrete event systems simulation, and a parallel computing toolbox for a local multi-core workstation and for efficient VGA

Mobile robot platforms

• LEGO NXT Mindstorms 2.0 – 3 basic sets, 3 supplementary sets, 6 inteligent LEGO NXT 2.0 boxes and various sensors (pressure transducers, ultrasonic sensors, color sensors, gyroscops, angular sensor, compasses, acceleration sensors, etc.) and activators (servomotors) – purchased with support of the ARDF BioMRCS project No. 0216-10
• Quadrocopter – Unmanned Aerial Vehicle (UAV) based on an open-source Arduino platform, using a control unit Ardupilot Mega 2.5 with a support of other electronick devices (GPS modul Mediate MT3329 V2, 433MHz telemetry for communication with a ground control station, a CMOS HD camera, 5,8GHz FPV Rx/Tx) to ensure autonomous flight of drones (Financial suppor of the ARDF BioMRCS project No. 0216-10 is highly appreciated)
• Motorized flying wing Maxi Swift – Unmanned Aerial Vehicle (UAV) based on an open-source Arduino platform, using a control unit Ardupilot Mega 2.5 with a support of other electronic devices.
• UGV – Desert Fox 4WD – unmanned ground wehicle control by Arduino platform.

Multi-camera detection system

• High speed IDS camera (UI-5220CP) with the AZURE lens (IR-02812ZM) – purchased with support of the ARDF BioMRCS project No. 0216-10
• Workstation HP Z400 with multi-port Gigabit ethernet card Intel PRO/1000 PTQT

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