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Distributed Robotic TeamsDistributed Robotic Teams
Nikos Papanikolopoulos Professor, Department of Computer Science
and EngineeringDigital Technology CenterUniversity of Minnesota
npapas@cs.umn.edu
AI, Robotics, and Computer AI, Robotics, and Computer Vision Laboratory, CSE, UMN Vision Laboratory, CSE, UMN
Faculty Maria Gini (Artificial Intelligence, Robotics, Intelligent Agents) Nikos Papanikolopoulos (Robotics, Computer Vision, Transportation Systems) Stergios Roumeliotis (Robotics, Robot Localization and Mapping) Rich Voyles (Robotics, Computer Vision, Multi- Agents) Paul Schrater (Computer Vision, Pattern Recognition, Haptic Interfaces)
AI, Robotics, and Computer AI, Robotics, and Computer Vision Laboratory, CSE, UMN Vision Laboratory, CSE, UMN
Mission Statement
The goal of the laboratory is to combine algorithm development with strong system building efforts that validate our algorithms. With respect to teaching, the goal is to educate top researchers/teachers and use AI, robotics, and computer vision as the vehicle to promote science/engineering principles to our students.
Rangers and ScoutsRangers and Scouts
Heterogeneous robotic team
RangersGeneral purpose
off-road robots
ScoutsCustom portable
sensor platforms
Technical Overview of Technical Overview of the Project: Goals the Project: Goals
Develop distributed robots (main unit is roughly the size of a soda can) with various mobility and sensory modes for exploration of structures in an urban warfare scenario.
Emphasize the development of innovative mobility modes for these robots.
Data fusion and analysis are to be at a remote operator station.
Effective combination of software and hardware design.
Some ApplicationsSome Applications Special Unit Operations Law Enforcement Agencies:
– Hostage situations– Counter terrorist units in large cities– Fire and rescue– Disaster relief
Coast Guard: vessel boarding and search FBI Fugitive Task Forces, FBI Crisis Response Team NASA space exploration programs Toy and Entertainment industries
Scout DesignsScout Designs
Grasshopper
Rolling Ball
Scout 2001
Scout 2001 vs. Scout 1999Scout 2001 vs. Scout 1999
Scout 2001
Scout 1999
Complete electronic and electrical redesign
Significantly improved power management
Encoders have been added to the drive motors.
The internal components have all been modularized to decrease assembly and repair time from hours to minutes.
The jumping spring and winching motor have been improved to increase overall mechanical efficiency and the height of jumps.
Scout Jumping TrialScout Jumping Trial
(a) (c)(b)
(f)(e)(d)
Scout VideoclipScout Videoclip
Hardware EffortsHardware Efforts
Mobility improvements
Communication improvements
Rooftop scout with grappling hook
COTSScout and MegaScout
Scout repeaters
Variable-size actuated scout wheels
Variable-Size Actuated Variable-Size Actuated Scout WheelsScout Wheels
wheel extended wheel retracted
Rooftop ScoutRooftop Scout
User feedback indicated the need for a scout that can operate on a roof or a ceiling.
The goal again is to achieve the desirable functionality without significant changes to the scout design.
The idea was to have an external scout attachment with a spring-loaded mechanism and a grappling hook.
Two prototypes have been built.
Rooftop ScoutRooftop Scout
Grappling HookMechanism
Scout with the Scout with the Pan-Tilt Camera SystemPan-Tilt Camera System
Motion Detection and TrackingMotion Detection and TrackingA computer vision algorithm was written to detect motion in the field of view and automatically track the center of motion.
Low Cost AlternativesLow Cost Alternatives Commercial Off-The-
Shelf (COTS) Scout– Designed to be a low cost, nearly
disposable alternative with reduced functionality and slightly improved resilience
– Physical Characteristics: 44 mm x 97 mm cylinder with 3 wheel sizes (57 mm, 64 mm, 76 mm)
– Sensing Capability: Camera– Locomotion:
• Rolling: Top speed – 57 mm wheel: 0.39 m/s– 64 mm wheel: 0.42 m/s– 76 mm wheel: 0.50 m/s
– Operational Life: 190 minutes in quiescent mode, 60 minutes at top speed broadcasting video
– Cost: < $300
Low Cost AlternativesLow Cost Alternatives
Commercial Off-The-Shelf (COTS) Scout
Modified Scout PlatformsModified Scout Platforms
MegaScout
Control and SimulationControl and Simulation
Control architecture is layered and based on behaviors.
Rangers are the control and communication central units (utility units).
Lego-based platforms were used initially for rapid prototyping and experimentation.
Software ImplementationSoftware Implementation
CORBAXMLC++
Backbone
Mission Control
Resource Pool
User Interface
Supervisory WorkstationPalm Pilot/Wristwatch TV’s
Scouts, Rangers, Radios, Video Frequencies,
Framegrabbers,Launchers, etc.
Prioritized Behaviors,Mission Decomposition,
Parallel Execution
Scheduling, System Configuration,Starting/Stopping Components, Load Balancing,
etc.
Behavior: Servo to a TargetBehavior: Servo to a Target
Human selects target Robot handles servoing process Assumption: known target geometry
– Deployment and retrieval of robot– Navigation between waypoints
Examples of Vision-Based Examples of Vision-Based Behaviors (Image Mosaics)Behaviors (Image Mosaics)
The scout rotates 360 deg and blends the individual images in order to
create mosaics of urban spaces.
General InnovationsGeneral Innovations
Design and functionality of the scouts. Design of the ranger-scout system (launching, communication,
navigation). Simple control and communication primitives that can be
reconfigured for a variety of robot behaviors. Development of a large heterogeneous distributed robotic
system based on these scalable, reconfigurable behaviors and physical components.
Miniaturization of the scout hardware peripherals (e.g. sensing, communication, etc.) required significant innovation.
Creation of a large variety of mobility modes in order to increase the scout functionality.
Technical ChallengesTechnical Challenges
Communication!!!!! Power requirements and management* Design of the jumping mechanism Hardening* Assembly and disassembly of the scout Miniaturization* Human-scout interaction given a large number of
scouts Software issues
*High risk issues
ConclusionsConclusions
The scout has proven to be a simple and effective design. It has been featured on CNN, BBC, NBC, Comedy Central, and was a finalist for the Discover award.
Feedback from military users (Lincolnia exercises) indicates that the scout is the right design and the right size.
There is a patent for the overall design. Various innovative mobility enhancements have been
developed. The COTSScout has a long life and a satisfactory set of
capabilities at a very low-cost. A variety of user interfaces has been developed. Communication remains a challenge.
AcknowledgementsAcknowledgements
This material is based upon work supported by National Science Foundation through grant #EIA-
0224363, Microsoft Inc., INEEL, and the Defense Advanced Research Projects Agency, MTO (“Distributed Robotics”
Program), ARPA Order No. G155, Program Code No. 8H20, issued by
DARPA/CMD under Contract #MDA972-98-C-0008
URL InformationURL Information
Videoclips and papers can be found at:http://distrob.cs.umn.edu
Scout Coverage by BBCScout Coverage by BBC
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