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