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