Multi-Robot System Application

oregontrimmingAI and Robotics

Nov 2, 2013 (4 years and 6 days ago)

109 views

Multi
-
Robot System Application

Supervisor



Presented by:

Dr. Kolin Paul


Ripudaman Singh

Dr. Lovekesh Vig 2005EE10346

Sanchit Arora

2005CS10182

Outline


Motivation


Problem Statement


Hardware


System Overview


Demonstration Plan


Time Line

Motivation


Robotics =>Embedded Systems =>
FUTURE


Robotics Application Areas


Multi Robot Systems:


Provide redundancy and contribute
cooperatively to solve the assigned
tasks


More reliable, faster, or cheaper way
beyond what is possible with single
robots


Present work


Individual robots


Team of robots doing manual work on
factory assembly lines


follow a script


can't learn to adapt to new situations


Problem Statement


To develop a system of robots that can cooperate
among themselves to allocate and accomplish
different tasks.


Main focus


task searching


planning


resource allocation


Scheduling


Underlying Robotic aspects


Localization


Mapping

Hardware


KheperaIII Robots


iRobots


Roomba


Capable of vaccum cleaning


Scooba


Capable of mopping


Create


Programmable, flexible, customized

Capabilities of Robots

Name

Programmable

Sensors

Communication

KhepaeraIII

Yes

9 IRs, 5 sonars, 2
ground IRs

Bluetooth, Wifi,
Serial using
UART/USB

Roomba

Yes

5 for obstacle detection,
2 for angle and distance
moved, 2 for dirt
detection

Bluetooth

*Create

Yes

5 for obstacle detection,
2 for angle and distance
moved

Bluetooth

*Scooba

No

Info not available

System Overview

Operating System

Resources

Applications

Multi Robot System

Robots

Tasks



Resource Allocation



Scheduling



Task Searching/Sensing



Planning



Allocation



Scheduling

Central Idea


Visualize Multi
-
Robot System as an
Operating System


Main Robot


Operating System


Other Robots


Resources


Tasks


Application/Job


Tasks of Main robot:


Search/locate tasks in the environment


Plan task completion


Allocate and schedule robots

Job Completion









Mapping







Localization




Obstacle detection and


avoidance

Job Completion







Localization




Obstacle detection and


avoidance

Communication

Behavioral Architecture
for Main Server

Behavioral Architecture
for other robots

System Architecture

Demonstration Plan


Phase One


Simulation using player/stage to demonstrate concept
before availability of hardware


Phase Two


Setting up of Localization, Mapping and Communication
systems


Phase Three


Implementation of complete system for one room
environment


Phase Four


Possible adaptation to multi room environment.

Time Line


This semester:


Completion of Phase One and Two


Next Semester


Completion of Phase Three and Four


Gantt Chart

15
-
29
Sept

30 Sept


12 Oct

20


27
Oct

27 Oct


10 Nov

10


17
Nov

Building world and
robot models

Testing of system
using simulation

Localisation and
mapping on actual
hardware

Communication
system development

Thank You