Platooning-LEGOs

1. Description

An open physical exemplar for engineering self-adaptive cyber-physical systems-of-systems

Overall description is given in our original paper (Yong-Jun Shin et.al., Platooning LEGOs: An Open Physical Exemplar for Engineering Self-adaptive Cyber-Physical Systems-of-Systems, SEAMS 2021 (Best Artifact Paper Award))

• Overview of Platooning-LEGOs

2. Equipment Requirements

• 3 LEGO EV3 bricks (https://education.lego.com/en-us/products/lego-mindstorms-education-ev3-core-set/5003400#lego-mindstorms-education-ev3)
• 3 laptops with Visual Studio Code installed (https://code.visualstudio.com/Download)

3. Physical environment setting

Basic EV3 brick setting

• Installation: https://pybricks.github.io/ev3-micropython/startinstall.html
• How to use EV3 brick: https://pybricks.github.io/ev3-micropython/startbrick.html
• Creating and running programs: https://pybricks.github.io/ev3-micropython/startrun.html

Robot building instruction

• Build the EV3 veihicle: here
• Attach sensors: ultrasonic sensor, color sensor, and touch sensor (optional)

Road environment setting

• Setting instruction

4. Preliminary for software implementation

Bluetooth connection with laptop and EV3 brick

• Turn on Bluetooth and make Bluetooth visible

• Pair one EV3 Brick to another EV3 Brick and laptop

• Detailed instruction: https://pybricks.github.io/ev3-micropython/messaging.html

Changing the EV3 brick name

• Instruction: https://pybricks.github.io/ev3-micropython/startlinux.html#changing-the-ev3-brick-name

5. Adaptation strategy development

Sample codes for three-vehicle platoon are provided. Template code is also offered to implement your own adaptation strategies. The sample codes and template are under the directory software implementation.

• Install the sample codes
  1. Create a new EV3 project for each vehicle
  2. Copy & paste sample codes for each vehicle
  3. Download the code to EV3 brick
  4. Run the three vehicles on the road together

6. Sample experiment results

• DEMO video

7. References

• EV3 MicroPython tutorial: https://pybricks.github.io/ev3-micropython/index.html
• Robot building instructions:
  • EV3 vehicle: https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf
  • Ultrasonic sensor: https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-ultrasonic-sensor-driving-base-61ffdfa461aee2470b8ddbeab16e2070.pdf
  • Color sensor: https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-color-sensor-down-driving-base-d30ed30610c3d6647d56e17bc64cf6e2.pdf

8. Contact

• Yong-Jun Shin: [email protected]
• Lingjun Liu: [email protected]
• Sangwon Hyun: [email protected]