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Multi-Robot Systems,[object Object],CSCI 7000-006,[object Object],Friday, August 29, 2009,[object Object],NikolausCorrell,[object Object]
So far,[object Object],What is a robot and how are robot algorithms different,[object Object],Alternatives to single robot systems,[object Object],Swarms of simple, reactive individuals,[object Object],Teams of collaborative/specialized deliberative systems,[object Object],Why are multi-robot systems hard?,[object Object],Coordination,[object Object],Uncertainty,[object Object]
Today,[object Object],MRS we will study in the course,[object Object],What will we be doing in the lab?,[object Object],Components of the “Buff-Bot” (better name?),[object Object],Project ideas,[object Object]
Topics in MRS,[object Object],Concepts,[object Object],reactive vs. deliberative algorithms,[object Object],centralized vs. distributed systems,[object Object],mixed animal-robot societies,[object Object],reconfigurable robots and smart materials,[object Object],Modeling,[object Object],Probabilistic models,[object Object],Deterministic models,[object Object],Kinematic and Dynamic Models,[object Object]
Turbine Inspection,[object Object],Goal: inspect all blades in a turbine,[object Object],Generic task allocation problem,[object Object],From reactive to deliberative algorithms,[object Object],Incremental use of resources,[object Object],Computation,[object Object],Communication,[object Object],Localization,[object Object],Degree of Planning,[object Object],Degree of Coordination,[object Object]
Multi-Robot Exploration,[object Object],Deploy into an environment,[object Object],Mapping or surveillance,[object Object],Distributed vs. Centralized algorithms,[object Object],Distributed Algorithms for Dispersion in Indoor Environments using a Swarm of Autonomous Mobile Robots”.   James McLurkin and Jennifer Smith, Distributed Autonomous Robotic Systems Conference, June 23, 2004.,[object Object],Andrew Howard, Lynne E. Parker, and Gaurav S. Sukhatme. "Experiments with Large Heterogeneous Mobile Robot Team: Exploration, Mapping, Deployment and Detection". In International Journal of Robotics Research, 25(5):431-447, May 2006,[object Object]
Wifi-Deployment,[object Object],Goal: maximize area coverage of wifi signal,[object Object],Reactive algorithms,[object Object],Incremental use of resources,[object Object],Localization,[object Object],A priori information,[object Object],Swarm programming using MIT proto,[object Object],Degree of Planning,[object Object],Degree of Coordination,[object Object]
Distributed Robot Garden,[object Object],Goal: tend plants automatically,[object Object],Generic task allocation problem,[object Object],Deliberative algorithms,[object Object],Sensing and computation distributed in the environment,[object Object],Degree of Planning,[object Object],Degree of Coordination,[object Object]
Reconfigurable Systems,[object Object],Goal: reconfigure into different shapes, locomote,[object Object],Units can compress/uncompress,[object Object],Deliberative algorithms,[object Object],Vision: smart materials,[object Object],Degree of Planning,[object Object],Daniela Rus, MarsetteVona. Crystalline Robots: Self-Reconfiguration with Compressible Unit Modules. Autonomous Robots 10(1):107-124, 2001. ,[object Object],Degree of Coordination,[object Object]
Smart Clay,[object Object],Goal: create arbitrary shapes on demand,[object Object],Centralized, deliberative,[object Object],Shapes are generated by unwanted parts falling off,[object Object],Process can be repeated,[object Object],Degree of Planning,[object Object],Kyle Gilpin, Keith Kotay, Daniela Rus, IuliuVasilescu - Miche: Modular Shape Formation by Self-Disassembly.  The International Journal of Robotics Research 27(3-4):345-372, 2008.,[object Object],Degree of Coordination,[object Object]
Mixed Animal Robot Societies,[object Object],Not every part of the system needs to be a robot,[object Object],No direct control on animals,[object Object],How can we exploit knowledge on animal behavior for control?,[object Object]
Modeling,[object Object],How to abstract a system into a concise (mathematical model)?,[object Object],Probabilistic Models,[object Object],Population dynamics,[object Object],Discrete Event System Simulations,[object Object],Deterministic Models,[object Object],Graph-based models,[object Object],Kinematic models,[object Object],Dynamical models,[object Object]
Why a lab?,[object Object],Robotic systems are determined by their sensing, actuation, computation, and communication capabilities,[object Object],What does this mean? Find out for yourself what happens,[object Object],when information is unavailable or noisy,[object Object],when computation does not keep up with your task,[object Object],when the robot just cannot get there,[object Object],when communication does not work as you expect,[object Object],when your algorithm just does not work!,[object Object]
Developing the Buff-Bot,[object Object],Developed with students at MIT over 4 terms,[object Object],Version 5 (“Buff-Bot”): new CPU, new arm, laser,[object Object],Goal: open platform for undergraduate education,[object Object]
System Diagram: Buff Bot,[object Object],Surroundings (Lab 3),[object Object],Localization (Lab 2),[object Object],Vision  (Lab 5),[object Object],Sensing	         	Computation		Actuation,[object Object],Netbook (Lab 1),[object Object],Mobile Base (Lab 2),[object Object],Arm (Lab 4),[object Object]
Lab Syllabus ,[object Object],Building a teaching and research platform “Buff-Bot”,[object Object],Part 1: Robotic Operating System,[object Object],Part 2: Differential wheel base and localization,[object Object],Part 3: Mapping with the LMS,[object Object],Part 4: Arm,[object Object],Part 5: Vision,[object Object]
Project,[object Object],Inspired by the systems and models presented in the course and/or your work,[object Object],Using the Buff-Bot, additional hardware or simulation,[object Object],Working with other teams on common components and tools,[object Object]
Art Gallery Problem,[object Object],What about robots watching an area and sending a guard when something happens?,[object Object],How long does it take until an event is detected? Responded?,[object Object]
Distributed Robot Garden,[object Object],Sensors on the plants vs. sensors on the robots,[object Object],What is better, faster, cheaper?,[object Object],Centralized vs. Decentralized coordination: when does it make sense to distribute?,[object Object]
Smart Building Blocks,[object Object],What about a construction kit in which the parts always take the shape you need?,[object Object],What parts do you need to create specific objects/trusses?,[object Object],Which part takes which shape?,[object Object]
Smart Marbles,[object Object],What about a set of marbles that you fill into a cavity and learn about its inside?,[object Object],How can you reconstruct the topology of the cavity?,[object Object],What sensing, computation, and communication capabilities does each marble need?,[object Object]
Smart Rubber,[object Object],What about rubber that can change its shape and move forwards?,[object Object],How to model structures made only of soft elements?,[object Object],What else can we build?,[object Object]
Summary,[object Object],Multi Robot Systems range from robot teams to smart materials composed of hundreds of sensing, actuated, computational and communicating devices,[object Object],Be creative in your course project, now is the time,[object Object]
Next Week,[object Object],Monday: Reactive Algorithms I,[object Object],Wednesday: Reactive Algorithms II, Practice: Robot architectures and operating systems,[object Object],Friday: Lab 1,[object Object]

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Editor's Notes

  1. 5 min: embedded linux, embedded camera (CMU cam), lightweight arm. Version 2: notebook computer for control, webcamVersion 3: more sturdy arm, class robot. Version 4: localization system, improved mechanical design. Version 5: netbooks, local company in Denver
  2. 3 min
  3. 2 min