1. iMagic Senior Project Emre AYDIN Asil Kaan BOZCUOĞLU Onur ÖZBEK Egemen VARDAR Onur YÜRÜTEN Project Supervisor: Asst. Prof. Uluç Saranlı

2. Introduction - MAGIC 2010 Multi Autonomous Ground-robotic International Challenge Jointly sponsored by the US and Australian Departments of Defense Robots that will conduct a mission of intelligence, surveillance and reconnaissance Mission objectives: – Accurately and completely exploring and mapping the challenge area – Correctly locating, classifying and recognising all simulated threats

3. Introduction – MAGIC 2010 (cont.) Program goals: – Accelerating the development of autonomous and unmanned vehicle technology. – Demonstrating that multi-UVS cooperatives can operate effectively with limited supervision by humans in realistic environments. – Bringing fresh insights to the problem of developing robust autonomous multi-vehicle cooperatives and to identify and transition technologies to meet emerging requirements.

4. Introduction - iMagic iMagic is an implementation of the contest in a simulated environment. Development of the two opposing teams: – Incursion robots – Objects of interest Project goals: – Efficient decision-making and planning algorithms – Task allocation and re-allocation for multiple robots – Full autonomy – Reliance on sensory information exclusively

5. Network Structure

6. Communication Between Services

7. Message Handling

8. Problems We Have Encountered A completely new technology (CCR & DSS) Complications due to asynchrounous and distributed computing Bugs related to the physics engine

9. Odometry Robotics Studio does not have encoder in standard configurations We implemented our own encoders with following formula: rotation = update_elapsed_time * rotation_scale(1/2*pi)*wheel_speed

10. Odometry (cont’d) The formulae: O T+1 = O T + (D R - D L ) / W D T,T+1 = (D R + D L ) / 2 X T+1 = X T + D T,T+1 cos(O T+1 ) Y T+1 = Y T + D T,T+1 sin(O T+1 )

11. Odometry (cont’d) Odometry can be erroneous Our case: - In mapping, we don’t see much error - That can be because we implement the encoders virtually.

12. Mapping One of the main goal of the Magic 2010 While the target OOIs are neutralized, mapping process also must be done.

13. Mapping Algorithm (cont’d) Occupancy Map Principle - Every pixel has a value. ( Default: 128) - Robots’ laser range finders measure distance in 180 degree. - If it returns max range, corresponding pixel values in the range are increased. -Otherwise, the value of the end point of the corresponding ray is decreased.

15. Incursion Team Robots Pioneer 3DX Equipments: - Laser Range Finder - Differential Drive on two wheels - Web cam

16. Incursion Team Robots (Cont.) They can be in either of the following 3 states: – Wander – OOI Following – Motion-to-goal

17. Incursion Team Robots (Cont.) ‘Wander’ State: – Default state – Move randomly and explore the environment

18. Incursion Team Robots (Cont.) ‘OOI Following’ State: – Follow an OOI until neutralizing it Neutralizing an OOI: – Keep the OOI under surveillance for 20 seconds. – Neutralized OOIs are removed from the environment.

19. Incursion Team Robots (Cont.) ‘Motion-to-goal’ State: – Try to reach a goal point – For fast and deterministic exploration

20. Incursion Team Robots (Cont.) How is collision avoidance handled? – Slowing down – Doing boundary following – Backing off

21. Incursion Team & Command Center Switching to OOI Following State: – Command center calculates the distance between incursion robots and OOIs. – If it finds an ‘available’ incursion robot close enough to an OOI, it sends a message to that incursion robot.

22. Incursion Team & Command Center Switching to ‘Motion-to-goal’ State: – Command center determines the unexplored regions in the map built so far. – Generates a random point in the most unexplored region; finds an available incursion robot, and assigns that point as a goal to that robot.

24. OOI Robots’ Motion Goal Provide a collision-free motion Patrol within a subregion

25. Robot Information Lego mindstorm NXT Actuators and Sensors  Differential drive on two wheels  Laser range finder  Webcam

26. Lego Mindstorm NXT

27. Motion Planning Algorithm “Node construction” phase “Patrol” phase Local planner: Artificial potential fields

28. Node Construction Produce # of samples = # of existing nodes

29. Node Construction (cont.) Randomly pick one of the samples

30. Node Construction (cont.) Connect the sample with up to k (k=3) neighbours of the previous node

31. Node Construction (cont.)

36. Patrol Select target from the node set

37. Patrol Generate additional “bridge” nodes if needed.

38. Analysis Incremental node construction  Avoiding massive pre-computation  Motion is not delayed Implicitly building “borders”  Tentative area for patrolling Collision-free, elegant motion