1. Undergraduate Capstone Projects on Multi-Robot Systems Authored by: Dr. Christopher Kitts Associate Professor Director, Robotic Systems Laboratory Director, Silicon Valley Center for Robotic Exploration & Space Technologies Presented by: Mr. Mike Rasay Doctoral Candidate, Robotic Systems Laboratory

2. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University Outline  Introduction  Undergraduate Projects – Formation Flying Aircraft – Cooperative Rover Navigation – Cooperative Object Transport  Academic Framework  Summary & Conclusions

3. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University  Lab: 1 faculty, 3 staff, ~10 grad students, ~35 undergrad students External funding: ~$750,000/yr from gov, industry, academia Space: ~2,000 ft 2 on campus,~7,500 ft 2 facility at NASA Ames  Expertise: system design, controls, teleoperation, automation, etc.  Current Field Robotics Robotic Systems Laboratory --------------------------Land – Sea – Air – Space------------------------------- --Field Operation for Real-World Missions-- --------------- Real Mission Data Products--------------- ----------- Sponsors & Partners------------ Gov: NSF, NASA, USAF, NOAA,USGS… Ind: Lockheed, CSA, Mitsubishi, BMW… Univ: Stanford, Wash U, UT Austin… Non-Profit: CSGC, MBARI, IEEE, MTS… - Applications- Geology Biology Land Mngmnt Remote Sensing Archeology

4. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University Land: Rovers for Transport Sea: ROVs for Filming Air: Planes for Imaging Space: Satellite Formation Test Multi-Robot Systems - Introduction  Selected RSL multi-robot projects

5. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University Project 1 – Formation Flying Aircraft  3-student 2005 project  Added sensors, pan/tilt camera, digital and video comms, microcontrollers, and commercial autopilot to RC aircraft  Developed “follow-the- leader” formation flying, auto take-off and landing  Approved for UAV flight in FAA Class D airspace  3 rd in AUVSI International Graduate UAV Contest

6. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University  5-student 2005 project  Added sensors, digital comm, & microcontrollers to commercial chasses  Integrated Matlab controllers and demonstrated “cluster control” navigation  3 of these students used system for grad thesis work; 1 PhD and 3 Masters theses in progress using this system  Basis of new NSF project in multi-robot navigation Project 2 – Coordinated Rover Navigation

7. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University Project 3 – Coordinated Object Transportation  4 student 2004 project and 5 student 2005 project  Team1: Developed 2 velocity- controlled omnidriven chasses  Team 2: Developed gripper stages and controller for object transport with no transmission of forces/torques  Overhead vision system has been added for tracking  System has supported 4 Masters theses and a PhD project is about to begin

8. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University Student Learning  Learning outcomes – Interdisciplinary design : teams include mech, elec, comp engineers – Full-lifecycle exposure: students involved from design through field operation – Tools: students learn modern design and analysis tools to support projects – Techniques : students practice project man., systems eng., concurrent design  Themes for success: – Real-world missions – New technology development with potential for research – Pro-active oversight and mentoring  Challenges: – Faculty attention on undergrad projects (detracting from other duties) – Resources for supporting such a program – How do we integrate our program to address these challenges?

9. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation

10. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation Research Opportunities and Impact – Research is Well-Grounded and Attracts Grad Students Design Education Opportunities and Impact – Education is Comprehensive, Team- Based, and Hands-on Mission Science & Services Impact

11. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation Research Opportunities and Impact – Research is Well-Grounded and Attracts Grad Students Design Education Opportunities and Impact – Education is Comprehensive, Team- Based, and Hands-on Mission Science & Services Impact - Integrative research & education - Undergraduate research - Stimulation of grad school interest - Industry/gov/academic collaborations

12. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation Research Opportunities and Impact – Research is Well-Grounded and Attracts Grad Students Design Education Opportunities and Impact – Education is Comprehensive, Team- Based, and Hands-on Funding Opportunities Mission Science & Services Impact - Integrative research & education - Undergraduate research - Stimulation of grad school interest - Industry/gov/academic collaborations Infrastructure for Courses & Future Missions

13. Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University Summary & Conclusions  SCU field robotics program – Robotic systems built for land, sea, air, and space missions – Cradle to grave design and operation of systems – Numerous collaborators/sponsors from industry, academia, government  Undergraduate Capstone Projects in Multi-Robot Systems – Formation aircraft, cooperative rover navigation, cooperative object transport – Each a remarkable achievement for an undergraduate team  Academic Framework – Exciting opportunities enabling undergraduate educational excellence – To attract and justify investment in these projects, they are leveraged such that:the resulting robotic systems are used:  As research testbeds for graduate research  As primary field systems for real-world science and technology missions