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Mobile Robotics @ LabRob A short introduction

Mobile Robotics @ LabRob A short introduction. Basilio Bona Michele Bongiovanni Laboratorio di Robotica Dipartimento di Automatica e Informatica Politecnico di Torino. Overview. Why mobility? Applications Approaches Solutions LabRob activity. Why mobility?.

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Mobile Robotics @ LabRob A short introduction

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

  2. Overview • Why mobility? • Applications • Approaches • Solutions • LabRob activity

  3. 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. Applications fields - 1 • Hospitals/Airports/Home • (Semi)Autonomous wheel-chairs • Assistants • Vacuum cleaners • Toys • Requirements • Robustness • User friendly human-machine interface • Environment sensing

  5. 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. Applications fields - 3 • Scientific/industrial explorations • Pyramid project • Pipelines • Underwater • Space • Requirements • Scalability • Adaptativity • Reliable sensing • SLAM • Remote controller systems

  7. Application fields - 4 • Bio-inspired • Insects (the great part) • Flies • Ants • Spiders • Bugs • Fish • Requirements • Microtechnologies • Low-level coding • Swarm paradigm • Redundancy strategies • Cooperation/communication • “Natural” behaviors • NN controllers • Artificial intelligence • Coherence with reality

  8. Application fields - 5 - • ROBOT SOCCER • World wide robotic research promotion • Requirements • Synchrony • Communication • High sensing skills

  9. Approach Real world Modelling Robot structure Environment Interactions Behaviors Simulations Real robot programming Result validation

  10. Model based VS behavioral basedcontroller 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. Approach Real world Modelling Robot structure Environment Interactions Behaviors Simulations Real robot programming Result validation

  12. 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. 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. 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. LabRob Activity -3-AVAILABLE HARDWARE • 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

  16. LabRob Activity -3- AVAILABLE SOFTWARE • MATLAB • Simulink • Stateflow • Real Time WorkShop • RTOS • VxWorks • Qnx • RTAI • Robots’ embedded operating systems. • Webots (Khepera and family robot simulator)

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

  18. ?? QUESTIONS ??

  19. Coming next…

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