Undergraduate Capstone Projects on Multi-Robot Systems

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. Outline • Introduction • Undergraduate Projects • Formation Flying Aircraft • Cooperative Rover Navigation • Cooperative Object Transport • Academic Framework • Summary & Conclusions

3. Robotic Systems Laboratory • Lab: 1 faculty, 3 staff, ~10 grad students, ~35 undergrad students External funding: ~$750,000/yr from gov, industry, academia Space: ~2,000 ft2 on campus,~7,500 ft2 facility at NASA Ames • Expertise: system design, controls, teleoperation, automation, etc. • Current Field Robotics --------------------------Land – Sea – Air – Space------------------------------- ----------- 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 --Field Operation for Real-World Missions-- --------------- Real Mission Data Products---------------

4. Multi-Robot Systems - Introduction • Selected RSL multi-robot projects Land: Rovers for Transport Sea: ROVs for Filming Air: Planes for Imaging Space: Satellite Formation Test

5. 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 • 3rd in AUVSI International Graduate UAV Contest

6. Project 2 – Coordinated Rover Navigation • 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

7. 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. 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. Academic Framework – Field Robotics Education / Science / Technology Customers Mission Objectives Technology Objectives Mission Development Technology Development Robotic Systems Field Operation

10. Academic Framework – Field Robotics Education / Science / Technology Customers Mission Objectives Technology Objectives Design Education Opportunities and Impact – Education is Comprehensive, Team-Based, and Hands-on Research Opportunities and Impact – Research is Well-Grounded and Attracts Grad Students Mission Development Technology Development Robotic Systems Field Operation Mission Science & Services Impact

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

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

13. 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