Introduction to Networked Robotics

CS 643 Seminar on Advanced RoboticsWenzhe 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 toa communications network such as the Internet or local areanetwork (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

http://rsn.cs.umn.edu/index.php/Environmental_Monitoring

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 ProblemsArt 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 CommunicationRobots 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 !