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Cooperating AmigoBots Framework and Algorithms
Anustup Choudhury Dheren Gala Jasraj Dange Harish Rajamani B.E. Computers(D-17)
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An Example in Autonomy NUCLEAR POWER PLANT MANIPULATION
monitoring and mapping areas handling and inspecting materials repair and maintenance WHY AUTOMATION? Safety Accuracy Efficiency
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An Example in Autonomy Functions The Physical World Perception Action
Cognition Functions Perception Vision Action Motion Manipulation Cognition 3 Level Programming Support
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An Example in Cooperation
Foraging in Hazardous Environments Controlled pushing of large objects Speed of operation Fault tolerance Functional decomposition
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LITERATURE SURVEY Single Robot Systems Multi-Robot Systems
Robot Motion Planning Localization Multi-Robot Systems Test-beds Communication structures Architectures
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SINGLE ROBOT SYSTEMS Robot motion planning Types of control
Deliberative Reactive Hybrid
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Robot motion planning-Deliberative control
Known Environments Basic Path Planner 1 Free space generation 2 Model building 3 Solution path searching Eg. Voronoi Diagrams
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Robot motion planning- Reactive control
Unknown Environments Cognition Modeling Implicit Rules E.g. Fuzzy Control
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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
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Localization Accurate position estimation Types Examples
Relative position methods Absolute position methods Examples Odometry Inertial Navigation Triangulation Landmark Recognition Markov techinique
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MULTIPLE ROBOT SYSTEMS
Multiplicity- Just another layer! Canonical Task Domains Traffic Control Box Pushing Exploration Foraging Formation and Marching
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MULTIPLE ROBOT SYSTEMS
Communication Structures Interaction via Environment Interaction via Sensing Interaction via Communication Group Architectures- Issues Centralization or Decentralization? Homogeneous or Heterogeneous?
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DESIGN Design of Architecture Design of Robot Design of Software
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DESIGN-ARCHITECTURE Centralized Architecture Homogeneous Robots
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DESIGN- ROBOT Physical Differential drive Holonomic Motion
Sensorial Input Odometer
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DESIGN- ROBOT Microcontroller Operating system Modules Communication
Obstacle avoidance
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DESIGN- SOFTWARE Control architecture System architecture
Communication Application Program Interface Modules Motion planning Sensor interpreting routines Localization routines Multi-robot interface
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IMPLEMENTATION AmigoBot AmigOS ARIA Saphira Tools
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IMPLEMENTATION- AmigoBot
Onboard Microcontroller (H8) Range Finding Capability Differential Drive Shaft Encoder Communication Capability Nearly Holonomic
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IMPLEMENTATION- AmigOS
Low Level Support for hardware “Open Technology” Client Server Architecture Self Sufficient for Autonomous operation
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Saphira/ARIA- System Architecture
Micro-tasking OS User Routines Communications Interface State Reflector
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Saphira/ARIA-Control Architecture
ARIA-Basic elements of action Saphira- Higher level routines Colbert Development Environment
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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
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PROPOSED APPLICATIONS
Navigation in hazardous areas Intelligent Escorts Cargo-Manipulation in Shipping Non-Intelligent Human Tasks
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ACKNOWLEDGEMENTS Mr. Kalapathy G. Balakrishnan DR. Prabir K. Pal
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)
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Thank You
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