Introduction to Networked Robotics CS 643 Seminar on Advanced Robotics Wenzhe Li, Graduate Student Texas A&M University

Outline  Introduction  Features  Examples  Challenges  Some research Issues  Summary

What is Networked Robotics ? A networked robot is a robotic device connected to a communications network such as the Internet or local area network (LAN) ( From IEEE technical committee )

Subclasses of networked robots  Teleoperated Human supervisors send commands and receive feedback via the network  Autonomous Robots and sensors exchange data via the network

RoboMotes: Gaurav S. Sukhatme, USC

 Introduction  Features  Examples  Challenges  Some research Issues  Summary

Some Features Perform tasks that a single robot (or module) cannot perform or a special- purpose larger robot to perform

Some Features  Improved Efficiency  React to information sensed by other mobile robots  Fault tolerance  Provide great synergy

 Introduction  Features  Examples  Challenges  Some research Issues  Summary

Networked Robotics VS Biology Studies of wasps shows that:  Centralized Coordination in small colony sizes,  Distributed, Decentralized coordination in larger colonies

Examples Manufacturing industry --Multiple robots, --Numerous sensors controllers --Automated guided vehicles --One or two human operators  Welding, Machining Mostly in Structured Environment So, what about for less structured Environment ……. Mining Robots, human operators play a more important role.  Working Cell

Examples Health Care industry Home Appliance Maron Robot, Tokyo, October 7, 2002, Fujitsu  Remotely controlled by mobile phone  Consists of telephone camera, timer remote control,surveillance equipment  Interact with other sensors,actuators in the home

Examples Environmental monitoring – key application !  Aquatic Monitoring: -- Aquatic Microbial Observing System by USC -- RiverNet project, RPI  Terrestral Monitoring  Subsoil monitoring  Forest Monitoring.. Infomechanical system project, UCLA,USC,UCR

Examples Defense industry

 Introduction  Features  Examples  Challenges  Some research Issues  Summary

Research Challenge  Who should talk to who ?  What information should be conveyed? and How?  How does each unit move ?  How should member acquire information?  How to aggregate information ? ………………………. Robot moves  Network Topology Dynamic, Behavior change

 Introduction  Features  Examples  Challenges  Some research Issues  Summary

Model for Control of a NS  Robots must be able to use information to derive local estimate, reason about the spatial network, choose appropriate control. (1) (2)

Some research issues Communication for Control  At the lowest level, allows agents to exchange Information.  At the higher level, agents can share information for planning and for control. Communication for Perception The challenge is to exploit communication for perception, presence of the delays, limited bandwidth, and disruption.

Some research issues Control for Perception  Where to place the node ?  Maximize the Quality ( or satisfaction) Related Problems Art Gallery problem, Watchman route problem,Zoo-keeper route problem,FSP…. Definition of WRP problem For workspace W, find the shortest path p in W such that every point on the boundary dW can be seen by a point on path p Control for Communication Robots moves….. affects the network and data transmission in the network …Arise many challenges…..

 Introduction  Features  Examples  Challenges  Some research Issues  Summary

Summary  Critical to such tasks, environmental monitoring, surveillance and reconnaissance, and security for civilian or defense purposes  Main overarching challenges  Technical challenges to scalability  Performing physical tasks in the real world  Human interaction for network-centric control and monitoring  Create robot networks can anticipate our needs and command rather than reacting (with delays) to human commands Tremendous potential, but a long way to go…..

Summary Thanks !