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robots
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Autonomous Robotic Systems
Sarat Chandra
Twinkle Tripathy
“Robot” term coined by Karel Capek in a 1921 science-
fiction Czech play “Rossum’s Universal Robot (R.U.R)”
Joseph Engelberger – “Father
of Modern Robotics”
Isaac Asimov & Asimov’s Laws
History of Robotics
Robot: • a reprogrammable, multifunctional manipulator • designed to move material, parts, tools • specialized devices through variable programmed motions for the
performance of a variety of tasks. Robots
Manual Controlled Autonomous Robots
Applications of Robots
Tasks which are:
– Dangerous
• Space exploration
• chemical spill cleanup
• disarming bombs
• disaster cleanup
– Boring and/or repetitive
• Welding car frames
• part pick and place
• manufacturing parts.
– High precision or high speed
• Electronics testing
• Surgery
• precision machining.
Autonomous Systems
• Missile •Space shuttle •Wireless Sensor Networks
• Ancient Greek word “αὐτονομία” autonomia means "one who gives oneself one's own law“.
Naturally occurring Patterns
Robotics: Leader Follower
First Attempt: Mimicking flocking of birds
Algorithm
• Move in same direction
• Stay close to neighbours
• Avoid collision
Robotics ------------------------------------------------------------------------> Formation Boids computer program ----------------------------------- > Craig Reynolds in 1986
More interesting problems!!!
• Consensus
• Rendezvous
• Formation
Single Agent Multi Agent
Approaches
Cons: Less robust Slower
Pros: Cost Efficient Less Computational Power need Simpler hardware implementation
Single Agent
Multi Agent
Pros: Very Robust Faster Scalability
Cons: Coordination Costlier Hardware implementation
Single Agent Vs Multi Agent
Single-agent
• Models: • Unicycle
• Four wheeled
• Coverage
• Irrigation
• Cleaning
Multi-agent
Consensus
• Definition: • Agreement
• Applications: • Temperature measurement
• Surveillance
Multi-agent
Rendezvous
• Definition: • Meet at a point
• Applications: • Missile guidance
Multi-agent
Formation
• Definition: • Pattern creation
• Applications: • Target tracking
Multi-Robot Systems
Fundamental Problems:
• Localization • Where am I?
• Navigation/Path Planning • Where/How to go?
• Mapping • How does the environment look like?
Localization Def:
• To find the position coordinates of a robot in a given un-known environment.
• Need for Localization • To perform accurate mapping
• Applications • Rescue Operations
• Mining
• Surveillance
Sensors
• Interoceptive: • Wheel Encoders
• IMU
• Exteroceptive: • Range Sensors
• Vision Sensors
• Tactile Sensors
Types of Localization
• Self Localization • Interoceptive Sensory Information
• Relative Localization • Landmarks
• Exact Localization • Centralized System
Navigation
• Obstacle Detection • Using Sensor Information
• Obstacle Avoidance
• Path Planning • Bug algorithms
• Potential Field Approach
• Optimal Strategies • Shortest path
Path Planning
• Idea of Planning and Bug??
• Bug Algorithms • Bug 0
• Bug 1
• Bug 2
• Tangent Bug
• Potential Field Approach
• Shortest Path
Mapping
• Multi Robot Exploration
• Coordination Strategies
• Sensors Used to create a map
• Mapping Individually
• Map-Merging • Map Position identification
• Transformation Matrices
Thank You