US 11,809,200 B1
Machine learning based reconfigurable mobile agents using swarm system manufacturing
Tarik J. Dickens, Tallahassee, FL (US); Jolie Breaux Frketic, Tallahassee, FL (US); and Sean Psulkowski, Fernandina Beach, FL (US)
Assigned to Florida A&M University, Tallahassee, FL (US)
Filed by Florida A&M University, Tallahassee, FL (US)
Filed on Dec. 7, 2020, as Appl. No. 17/247,300.
Claims priority of provisional application 62/944,871, filed on Dec. 6, 2019.
Int. Cl. B25J 9/16 (2006.01); G05D 1/02 (2020.01)
CPC G05D 1/0295 (2013.01) [B25J 9/1635 (2013.01); B25J 9/1697 (2013.01); G05D 1/0255 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A swarm system including a plurality of mobile agents each in communication with an independent remote central controller, wherein the plurality of mobile agents are configured to manufacture an end product within a manufacturing area, the swarm system comprising:
a first mobile agent including:
a frame including a first side opposite a second side, the frame defining a compartment therein between the first side and the second side, the compartment enclosed within the frame via one or more detachable sides removably coupled to the frame;
a sensing component removably disposed within the compartment, wherein the sensing component is adapted to be in wireless communication with the independent remote central controller and is adapted to transmit data to the independent remote central controller;
a receiver removably disposed within the compartment, wherein the receiver is adapted to receive a set of instructions from the independent remote central controller, the set of instructions based on the data transmitted by the sensing component;
a base plate secured to the first side of the frame;
an attachment coupled to the base plate, such that the attachment is secured to the frame, the attachment including an end effector disposed at a terminal end of the attachment and adapted to manufacture the end product within the manufacturing area, and
a wheel coupled to the second side of the frame, the wheel configured to linearly translate the first mobile agent from a first position to a second position within the manufacturing area based on the set of instructions;
a second mobile agent including:
a frame including a first side opposite a second side;
a wheel coupled to the second side of the frame, the wheel configured to linearly translate the second mobile agent from a first position to a second position within the manufacturing area; and
a print bed including a bottom surface secured to the first side of the frame, the bottom surface opposite a top surface, the top surface forming a printing surface configured to provide a surface for a deposit of a material in the form of a filament, thereby manufacturing an end product on the top surface of the print bed,
wherein the first mobile agent is configured to manufacture the end product on the print bed of the second mobile agent based on the set of instructions received by the first mobile agent from the remote central controller.