RagoWorld: The Next Generation in RoboGaming Jonathan Friedman, David Lee, Advait Dixit, Parixit Aghera, Aman Kansal, Sophia Wong, William J. Kaiser, Greg.

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RagoWorld: The Next Generation in RoboGaming Jonathan Friedman, David Lee, Advait Dixit, Parixit Aghera, Aman Kansal, Sophia Wong, William J. Kaiser, Greg J. Pottie, and Mani Srivastava

EE ARR Behind the Bot: A RagoStory Entertainment Provide new interactive gaming environment Visual interesting and new potential games Education Fun platform for students to learn about embedded robots Provide teaching aids for complex systems Research Provide reconfigurable mobile platform for embedded research New directions in adaptive actuation and coordinated operation Isolate test algorithms by shifting other functionality to central server

EE ARR RagoWorld: Robogaming Environment Graphic Projector PicoNIMS Terrain Control Energy Replenishment Reconfigurable Terrain Distributed Audio Engine Localization Camera Autonomous Mobile agents

EE ARR Now Presenting: Ragobot CPU & Radio Module (XYZ or Mica2) IR Edge Detector IR Obstacle Detector Sensor Board (INS, DSP, Other Sensors) RFID Reader Head Board (Camera, IR, Microphone, Blue LED) IRDAR RFID Antenna (below platform) Speaker Ultrasound LED Light Bar IR Obstacle Detectors Neck Board (Antenna Tuner, Z-Axis Accelerometer, USB Control) Traction Platform Pan Servo Tilt Servo

EE ARR Ragobot Rev. 1, Say Cheese

EE ARR Hierarchy of Modularity: Concept Source: L. Navarro-Serment, R. Grabowski, C. Paredis, P. Khosla. Robotics Institute, Carnegie Mellon University, Modularity in Small Distributed Robots Static Modules (modularity only at highest level) Dynamic Modules (modules within modules) Advancing Small-Scale Robotics!

EE ARR Hierarchy of Modularity: The RagoFamily RECONFIGURABLE!

EE ARR State-of-the-Art Design: Power Supply Worst case performance is only 3.8% fluctuation to high-current systems and only 0.9% fluctuation to sensors, processor, and radio under ½ Amp surge at 94% efficiency! Analog analysis… …matches actual hardware! Output without power supply… …and output with our design

EE ARR Actuated Structures Shape Memory Alloys (Ni-Ti Alloy) allow electronic control of physical game structures and obstacles

EE ARR Software Architecture

EE ARR Software Architecture

EE ARR Ongoing Work Remaining hardware components being developed Low noise ultrasound localization Video sensor Inertial navigation system Microphone and speaker system Robot navigation Higher level navigation functionality under development Robot communication protocol Between server and robots Currently based on ID based packet transfer Among robots Multi-robot control primitives Collaborative team operation

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