LITEseminar - Center for Advanced Computer Studies (CACS)

loutclankedAI and Robotics

Nov 13, 2013 (3 years and 4 months ago)

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CajunBot: Past and
Future

Arun Lakhotia

The Center for Advanced
Computer Studies

Agenda


Review Past


Plans for Future


Robot Races


Leverage LITE

Race Track

Route Definition: Input

Terrain

2005 Evaluation Process


Application: 195


Site visits: 116


Semi
-
finals: 43


Finals: 43


Finishers: 5


3
-
D view inside CajunBot

CajunBot Innovation

:Taking advantage of bumps


Visibility
distance
increased
with bumps

Z (Height)
-
acceleration m/s
2

Max obstacle detection distance

CajunBot Innovation:

Simulator


Complete virtual world for testing software


Significant challenge


Running ‘real
-
time’ systems in virtual environment


Solution:


A virtual
-
clock


Encapsulate clock into an object

Team Composition


Graduates of


Rayne High


Berwick High


Baton Rouge High


Catholic High, New Iberia


Slidell High


Kenner High


Lafayette High


Carencro


Comeaux


India, Nigeria, China, Tunisia

Future


Robot Races

New Vehicle


Ragin’Bot


Jeep Wrangler


Lafayette Motors


DARPA Grand Challenge 2007


Autonomous Vehicles in traffic


Model vehicles in cities


New issues


Detect other vehicles on road


Follow road rules (right of ways)


Challenge date


To be announced


Most likely in August 2007


Pikes Peak Uphill Robot Race


Colorado Springs


Course for autoracing


Second only to Indy
-
500, but uphill


Stats


Length: 12.42 miles


Turns: 156


Start elevation: 9,390ft


End elevation: 14,110ft


Grade: +/
-

10%

Buckeye Invitational


Led by Ohio State


At Transportation
Research Center’s
Cross Country Hilly
Course


Over 8 miles of
roadway, 1000ft/105
slop, cross
-
country
course, etc.



Future: Leverage LITE

3
-
D Survey


Use RB’s technology for 3
-
D survey



Demo


3
-
D Survey


Differentiating from aerial survey


Single point per cell vs multiple points per cell


Higher resolution


Higher accuracy


Thanks to C&C’s RTK equipment


Application


3
-
D models of levee, coastal region, bridges,
structures


Review damages to structures


Post construction review of roads, bridges

3
-
D Games and Animations


Costly part of computer games


Creation of models


Use CajunBot technology to create 3
-
D
models


Scan objects


Extract 3
-
D points


Construct model


Skin images

DOD: Robotic Systems


Single autonomous system not sufficient


DOD expects collection of autonomous
robots




Robotic Systems: Bottleneck


Critical path technology


Software


Human computer interface


Training of personnel


Testing requires


Need fully equipped, functioning vehicles


Trained personnel


Testing area


Our proposal:


Move testing and training to virtual world



Invitation for collaboration


Mechanical Engineers; Art and Design


Improve mechanical structures


Kinodynamic models of the vehicle


Electrical Engineers


Scanning sensors


Improve power management


Civil Engineers


Use data to build models of roads, terrain, building, etc.


Chemical Engineers


Chemical sensors


for spills, etc.


Computer science/engineering


All aspects


Visualization, computer games, signal processing, AI