1. Mobile Robotics @ LabRob A short introduction Basilio Bona Michele Bongiovanni Laboratorio di Robotica Dipartimento di Automatica e Informatica Politecnico di Torino

2. 01CFIDV - Robotica - 11 Marzo 20052 Overview Why mobility? Applications Approaches Solutions LabRob activity

3. 01CFIDV - Robotica - 11 Marzo 20053 Why mobility? Increased number of degrees of freedom challenging tasks that require displacement abilities. Autonomy Human- (animal-) like behaviors Helpers or substitutes for stressing/dangerous tasks

4. 01CFIDV - Robotica - 11 Marzo 20054 Applications fields - 1 Hospitals/Airports/Ho me (Semi)Autonomous wheel-chairs Assistants Vacuum cleaners Toys Requirements Robustness User friendly human- machine interface Environment sensing

5. 01CFIDV - Robotica - 11 Marzo 20055 Applications fields - 2 Military Mine finder Flying sentinels Soldiers (????) Requirements SLAM Team paradigm Communication Reliable sensory systems and fusion Reliable hardware Real-time software

6. 01CFIDV - Robotica - 11 Marzo 20056 Applications fields - 3 Scientific/industrial explorations Pyramid project Pipelines Underwater Space Requirements Scalability Adaptativity Reliable sensing SLAM Remote controller systems

7. 01CFIDV - Robotica - 11 Marzo 20057 Application fields - 4 Bio-inspired Insects (the great part) Flies Ants Spiders Bugs Fish Requirements Microtechnologies Low-level coding Swarm paradigm Redundancy strategies Cooperation/communica tion Natural behaviors NN controllers Artificial intelligence Coherence with reality

8. 01CFIDV - Robotica - 11 Marzo 20058 Application fields - 5 - ROBOT SOCCER World wide robotic research promotion Requirements Synchrony Communication High sensing skills

9. 01CFIDV - Robotica - 11 Marzo 20059 Approach BehaviorsInteractionsEnvironment Robot structure Modelling Simulations Real world Real robot programming Result validation

10. 01CFIDV - Robotica - 11 Marzo 200510 Model based VS behavioral based controller design Model based Dynamic continuous/discreet equations Accurate mathematical model Predictions and equilibria Behavior based Events and interaction rules High dimension and noisy system Blocks description Mathematics hidden in high-level structures

11. 01CFIDV - Robotica - 11 Marzo 200511 Approach BehaviorsInteractionsEnvironment Robot structure Modelling Simulations Real world Real robot programming Result validation

12. 01CFIDV - Robotica - 11 Marzo 200512 Solutions from simulated to real world by hand coding No share of resources between simulation software and hardware Automatic coding Fast prototyping techniques Hardware in the loop Hybrid Custom code embedding

13. 01CFIDV - Robotica - 11 Marzo 200513 LabRob activity -1- RESEARCH Fast prototyping using Simulink and the Real Time Workshop Design of real-time embedded controllers Code porting on unsupported/custom architectures Model based VS behavioral based controllers analysis and comparison (e.g. Simulink VS Stateflow) Sensor fusion env. Mapping (SLAM) InfraRed sensors (short distances < 4 m ) Sonar sensors (long distances < 3 m) Video cameras

14. 01CFIDV - Robotica - 11 Marzo 200514 LabRob activity -2- RESEARCH Algorithms of features extraction from acquired images (colors, shapes, distances) Evolution/dynamics of communication emergence among simulated agents Signal grounding Communication means Audio waves Radio waves (which one?) Light Web learning and remote robot controller Java (or equivalent) web interface Radio communication host-robot link Drive-by-cameras

15. 01CFIDV - Robotica - 11 Marzo 200515 2 x Khepera robot base (MC68331) with sonars and radio turrets 1 x PAL Color camera 1 x SoccerBot (MC68331) with sonars, color camera, radio system, kicker and LCD display. 4 x Devantech sonars LabRob Activity -3- AVAILABLE HARDWARE

16. 01CFIDV - Robotica - 11 Marzo 200516 MATLAB Simulink Stateflow Real Time WorkShop RTOS VxWorks Qnx RTAI Robots embedded operating systems. Webots (Khepera and family robot simulator) LabRob Activity -3- AVAILABLE SOFTWARE

17. 01CFIDV - Robotica - 11 Marzo 200517 Useful links http://www.ladispe.polito.it/robotica/Labrob/indexen.htm http://www.polito.it/ http://www.k-team.com http://www.joker-robotics.com/eyebot/ http://www.mathworks.com/products/rtw/ http://www.robot-electronics.co.uk/ shop/Ultrasonic_Rangers1999.htm http://www.cyberbotics.com/products/webots/

18. 01CFIDV - Robotica - 11 Marzo 200518 ?? QUESTIONS ??

19. 01CFIDV - Robotica - 11 Marzo 200519 Coming next… LADISPE di AUTOMATICA 10:30-12:3012:30-14:30 LUN 14/03 BONFITTO, CARDELLINO, CAVALERA, CERUTTI, CHIONO, COCONDI, CORATELLA, CORSIATTO, DANNA, DE GIUSEPPE DEDOLA, DEIRO,FAVOT, FELE, FICILI, FILIPE, FRASSY, GRASSINO, IMPINNA, KAOUK MER 16/03 LAFFRANCHI, MATTIO, PAOLELLA, PEIRANO, PONSETTI, PRIMAVERA, SAGLIA, SARRACINO, SEVERINO, ZANCANER, PEREZ, HUI KIT