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

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

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

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

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

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

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

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

9. 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

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

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

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

13. DESIGN
Design of Architecture
Design of Robot
Design of Software

14. DESIGN-ARCHITECTURE
Centralized Architecture
Homogeneous Robots

15. DESIGN- ROBOT Physical Differential drive Holonomic Motion
Sensorial Input
Odometer

16. DESIGN- ROBOT Microcontroller Operating system Modules Communication
Obstacle avoidance

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

18. IMPLEMENTATION
AmigoBot
AmigOS
ARIA
Saphira
Tools

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

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

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

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

23. 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

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

25. 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)

26. Thank You