Cooperating AmigoBots Framework and Algorithms

Anustup Choudhury

Dheren Gala

Jasraj Dange

Harish Rajamani

B.E. Computers(D-17)

An Example in Autonomy NUCLEAR POWER PLANT

MANIPULATION monitoring and mapping areas handling and inspecting materials repair and maintenance

WHY AUTOMATION? Safety Accuracy Efficiency

An Example in Autonomy

The Physical World

Perception

Action

Cognition

Functions Perception

Vision Action

Motion Manipulation

Cognition 3 Level

Programming Support

An Example in Cooperation

Foraging in Hazardous Environments Controlled pushing of large objects Speed of operation Fault tolerance Functional decomposition

LITERATURE SURVEY

Single Robot Systems Robot Motion Planning Localization

Multi-Robot Systems Test-beds Communication structures Architectures

SINGLE ROBOT SYSTEMS

Robot motion planning Types of control

Deliberative Reactive Hybrid

Robot motion planning-Deliberative control Known Environments Basic Path Planner

1 Free space generation

2 Model building

3 Solution path searching Eg. Voronoi Diagrams

Robot motion planning- Reactive control Unknown Environments Cognition Modeling Implicit Rules

E.g. Fuzzy Control

Robot motion planning-Hybrid control Statistical Techniques

Dynamic Environments Global path- initially Local modifications- during runtime

Randomized techniques High dimensional spaces Randomized “milestones” E.g. RRT Algorithm

Accurate position estimation Types

Relative position methods Absolute position methods

Examples

Localization

• Odometry

•Inertial Navigation

•Triangulation

•Landmark Recognition

•Markov techinique

MULTIPLE ROBOT SYSTEMS

Multiplicity- Just another layer! Canonical Task Domains

Traffic Control Box Pushing Exploration Foraging Formation and Marching

MULTIPLE ROBOT SYSTEMS

Communication Structures Interaction via Environment Interaction via Sensing Interaction via Communication

Group Architectures- Issues Centralization or Decentralization? Homogeneous or Heterogeneous?

DESIGN

Design of Architecture Design of Robot Design of Software

DESIGN-ARCHITECTURE

Centralized Architecture

Homogeneous Robots

DESIGN- ROBOT

Physical Differential drive Holonomic Motion Sensorial Input Odometer

DESIGN- ROBOT

Microcontroller Operating system Modules

Communication Obstacle avoidance

DESIGN- SOFTWARE Control architecture System architecture Communication Application Program Interface Modules

Motion planning Sensor interpreting routines Localization routines

Multi-robot interface

IMPLEMENTATION

AmigoBot AmigOS ARIA Saphira Tools

IMPLEMENTATION-AmigoBot

Onboard Microcontroller (H8) Range Finding Capability Differential Drive Shaft Encoder Communication Capability Nearly Holonomic

IMPLEMENTATION-AmigOS

Low Level Support for hardware “Open Technology” Client Server Architecture Self Sufficient for Autonomous

operation

Micro-tasking OS

User Routines

Communications Interface

State Reflector

Saphira/ARIA- System Architecture

Saphira/ARIA-Control Architecture

ARIA-Basic elements of action

Saphira- Higher level routines

Colbert Development Environment

IMPLEMENTATION-TOOLS

AmigoMAPPER A-Priori map generation

AmigoEYES In-built Simulator and Robot

connection capability Highest-level of abstraction Graphical Interface for accepting

basic commandsStopped

PROPOSEDAPPLICATIONS Navigation in hazardous areas

Intelligent Escorts

Cargo-Manipulation in Shipping

Non-Intelligent Human Tasks

ACKNOWLEDGEMENTS

Mr. Kalapathy G. Balakrishnan Project Advisor

DR. Prabir K. Pal Department of Remote Handling

and Robotics (B.A.R.C) DR. Manjit Singh

Head of Department, Department of Remote Handling and Robotics (B.A.R.C)

Thank You