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COOPERATIVE PLATFORM FOR AGILE AUTONOMOUS
ROBOTICS
Supervised by: Dr. Khaled ElAyat
Presented by: Ahmed M. Youssef
AGENDA
• Introduction & Scope
• Defining Agile Robotics
• Research Challenges
• Deliverables
WHAT DO WE REALLY MEAN BY AGILE AUTONOMOUS
ROBOTICS?Intro & Scope
EXTERNAL VISION BASED SYSTEMS
VICON Camera Systems
POINT-TO-POINT COLLABORATION
ETH Robotics and Perception Group, Automatika 2014 winner
DEFINING COOPERATIVE PLATFORM
“A collection of Software modules capable of bridging gaps between different robots and facilitating communication, coordination and task execution. Such modules act as Logic Brain (Processing of sensory input or data collected), communication beacon or message relay server, task coordinator and monitor. This collection of software modules are easily extended and installed on all robots within the same physical realm/surrounding that are required to collaborate to achieve a given task/mission”
PLATFORM: CAPABILITY Research Challenges
CAPABILITY RESEARCH QUESTIONSStandardized method of defining a robot capability
Comparison between preferred solution among XML, JSON, SDL
Robots with multiple capabilities but with different priorities or specifications (a quadcopter with onboard camera with gpu is much better than a quadcopter with gopro attached for image processing reasons)
Would capabilities be ranked/tested ? A 6-DOF sensor is less better accurate than 9-DOF sensor
PLATFORM: CLUSTER FORMATION & MANAGEMENT
Research Challenges
CLUSTER FORMATION/MANAGEMENT RESEARCH QUESTIONS
What are the key factors affecting the cluster of heterogeneous robot environment? Processing power, electrical power, lifting power, etc…
Are those factors constant or task/mission oriented?
Would that mean that a task/mission will need to favor/define a sort of requirements/preferences to achieve the goal?
Could that be automated via the network itself given some information about the task but not the requirements themselves?
Is time/spatial characteristics important ?
PLATFORM: COMMUNICATION
Research Challenges
COMMUNICATION RESEARCH QUESTIONSWould the platform in a group be able to communicate as a fully connected graph?
What are the minimum requirements to assure such rule?
How this graph will be maintained with spatial/timing constrains?
How messages would be transferred across different physical layers?
What are the communication protocols of choice?
PLATFORM: STATISTICS Research Challenges
STATISTICS RESEARCH QUESTIONSWhat are the type(s) of data statistics? Battery, CO2, Methane, UV, Temperature, etc…
Should these statistics be self computed and maintained or user driven?
Should the statistics be posted to a server for further analysis or maintained within the network for network adaptation or self enhancement? Or both?
How these statistics would be saved? Where? Distributed or centralized?
How these statistics would be formalized?
Are the data reported collectively or individually?
THESIS TARGET
Develop the software modular architecture for the claimed platform answering some of the major component research questions at hand demoing the genuinely contribution of such framework to the field.
Develop this as part of OpenSourceSoftware and publish it on GitHub for the community to contribute and develop over
Serve as base foundation for other robotic engines developed with the faculty or across departments.
QUESTIONS? Hopefully none
THANK YOU
REFERENCES1) Kushleyev, Alex et al. 'Towards A Swarm Of Agile Micro Quadrotors'. Auton Robot 35.4 (2013): 287-300. Web.
2) Robot Operating System (ROS), http://www.ros.org/
3) ArduPilot, http://ardupilot.com/
4) PixHawk, https://pixhawk.ethz.ch/
5) Vicon Systems, www.vicon.com
6) Richard Harkins, Oleg Yakimenko. ‘A Framework for Collaborative Quadrotor-Ground Robot Mission’, Naval Post Graduate Studies, Monterey, California
7) Clustering Formation for Inter-Vehicle Communication, Ömer Kayış and Tankut Acarman, IEEE, Intelligent Transportation Systems Conference, 2007
8) On the Formation of Vehicle Clusters, Chien-Ming Chou and Kun-chan Lan, Department of Computer Science and Information Engineering, National Cheng Kung University, Tainan, Taiwan, Email: jensen0915@gmail.com, klan@csie.ncku.edu.tw
9) Swarm Quadrotor Robots for Telecommunication Network Coverage Area Expansion in Disaster Area, M. Sakti Alvissalim1 Big Zaman1Ahmad Hafizh Z1 M. Anwar Ma’sum1 Grafika Jati1 Wisnu, Jatmiko1 Petrus Mursanto, Faculty of Computer Science, University of Indonesia, Kampus UI Depok 16424, Indonesia.
10) Towards Establishing and Maintaining Autonomous Quadrotor Formations, Audrow J. Nash, Terrill E. Massey, Christopher J. Wesley, Saketh Simha Kosanam, James M. Conrad, Department of Electrical and Computer Engineering, University of North Carolina at Charlotte, 9201 University City Blvd, Charlotte, United States
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