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