Cooperating AmigoBots Framework and Algorithms Anustup Choudhury Dheren Gala Jasraj Dange Harish Rajamani B.E. Computers(D-17)

An Example in Autonomy NUCLEAR POWER PLANT MANIPULATION monitoring and mapping areas handling and inspecting materials repair and maintenance WHY AUTOMATION? Safety Accuracy Efficiency

An Example in Autonomy Functions The Physical World Perception Action Cognition Functions Perception Vision Action Motion Manipulation Cognition 3 Level Programming Support

An Example in Cooperation Foraging in Hazardous Environments Controlled pushing of large objects Speed of operation Fault tolerance Functional decomposition

LITERATURE SURVEY Single Robot Systems Multi-Robot Systems Robot Motion Planning Localization Multi-Robot Systems Test-beds Communication structures Architectures

SINGLE ROBOT SYSTEMS Robot motion planning Types of control Deliberative Reactive Hybrid

Robot motion planning-Deliberative control Known Environments Basic Path Planner 1 Free space generation 2 Model building 3 Solution path searching Eg. Voronoi Diagrams

Robot motion planning- Reactive control Unknown Environments Cognition Modeling Implicit Rules E.g. Fuzzy Control

Robot motion planning-Hybrid control Statistical Techniques Dynamic Environments Global path- initially Local modifications- during runtime Randomized techniques High dimensional spaces Randomized “milestones” E.g. RRT Algorithm

Localization Accurate position estimation Types Examples Relative position methods Absolute position methods Examples Odometry Inertial Navigation Triangulation Landmark Recognition Markov techinique

MULTIPLE ROBOT SYSTEMS Multiplicity- Just another layer! Canonical Task Domains Traffic Control Box Pushing Exploration Foraging Formation and Marching

MULTIPLE ROBOT SYSTEMS Communication Structures Interaction via Environment Interaction via Sensing Interaction via Communication Group Architectures- Issues Centralization or Decentralization? Homogeneous or Heterogeneous?

DESIGN Design of Architecture Design of Robot Design of Software

DESIGN-ARCHITECTURE Centralized Architecture Homogeneous Robots

DESIGN- ROBOT Physical Differential drive Holonomic Motion Sensorial Input Odometer

DESIGN- ROBOT Microcontroller Operating system Modules Communication Obstacle avoidance

DESIGN- SOFTWARE Control architecture System architecture Communication Application Program Interface Modules Motion planning Sensor interpreting routines Localization routines Multi-robot interface

IMPLEMENTATION AmigoBot AmigOS ARIA Saphira Tools

IMPLEMENTATION- AmigoBot Onboard Microcontroller (H8) Range Finding Capability Differential Drive Shaft Encoder Communication Capability Nearly Holonomic

IMPLEMENTATION- AmigOS Low Level Support for hardware “Open Technology” Client Server Architecture Self Sufficient for Autonomous operation

Saphira/ARIA- System Architecture Micro-tasking OS User Routines Communications Interface State Reflector

Saphira/ARIA-Control Architecture ARIA-Basic elements of action Saphira- Higher level routines Colbert Development Environment

IMPLEMENTATION- TOOLS AmigoMAPPER A-Priori map generation AmigoEYES In-built Simulator and Robot connection capability Highest-level of abstraction Graphical Interface for accepting basic commandsStopped

PROPOSED APPLICATIONS Navigation in hazardous areas Intelligent Escorts Cargo-Manipulation in Shipping Non-Intelligent Human Tasks

ACKNOWLEDGEMENTS Mr. Kalapathy G. Balakrishnan DR. Prabir K. Pal Project Advisor DR. Prabir K. Pal Department of Remote Handling and Robotics (B.A.R.C) DR. Manjit Singh Head of Department, Department of Remote Handling and Robotics (B.A.R.C)

Thank You