Field Robotics - Revision history

Pal: /* Blimp aerial robot */

2011-11-08T14:58:56Z

Blimp aerial robot

← Older revision		Revision as of 14:58, 8 November 2011
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	''Main page: [[Blimp aerial robot]]''		''Main page: [[Blimp aerial robot]]''

	[[Image:blimp-~~tecnofio~~.png\|thumb\|250px\|Blimp tracking person]]		[[Image:blimp-tecnofil.png\|thumb\|250px\|Blimp tracking person]]

	Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.		Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.

Pal at 14:50, 8 November 2011

2011-11-08T14:50:51Z

← Older revision		Revision as of 14:50, 8 November 2011
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	''Main page: [[Blimp aerial robot]]''		''Main page: [[Blimp aerial robot]]''

			[[Image:blimp-tecnofio.png\|thumb\|250px\|Blimp tracking person]]

	Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.		Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.
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	''Main page: [[Quadcopters]]''		''Main page: [[Quadcopters]]''

			[[Image:Quadcopter-transp.jpg\|thumb\|250px\|UAVision mini-quadcopter]]

	Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.		Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.

Pal at 10:52, 8 November 2011

2011-11-08T10:52:10Z

← Older revision		Revision as of 10:52, 8 November 2011
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	* realistically simulating the aerial blimp and land ATRV-Jr robots, based on USARSim, such that developed code can be tested on the simulator and then switched to the actual blimp hardware without needing any extra modifications. Actually, control of the actual hardware and of the simulated blimp model can also be carried out simultaneously, if so desired;		* realistically simulating the aerial blimp and land ATRV-Jr robots, based on USARSim, such that developed code can be tested on the simulator and then switched to the actual blimp hardware without needing any extra modifications. Actually, control of the actual hardware and of the simulated blimp model can also be carried out simultaneously, if so desired;
	* developing and testing vision-based algorithms for ground-lines following and object tracking (e.g., the ATRV-JR land robot) by the aerial blimp robot.		* developing and testing vision-based algorithms for ground-lines following and object tracking (e.g., the ATRV-JR land robot) by the aerial blimp robot.

			=== Quadcopters ===

			''Main page: [[Quadcopters]]''

			Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.

			The group is now shifting its focus from blimps to quadcopters, in straight collaboration with IST spinoff [http://www.uavision.com UAVision], namely through the co-supervision of several MSc theses and in the QREN project [http://welcome.isr.ist.utl.pt/project/index.asp?accao=showproject&id_project=171 Quadmission]. Quadcopters have the advantage of having larger mobility and resistance to winds. UAVision has also endowed their quadcopters with lower-level control layers that enable its higher-level control in a simplified manner, thus very adequate for the purpose of our research. Currently, we have MSc students working on formation control, cooperative object transportation, aerial SLAM and middleware for quadcopters.

	== References ==		== References ==

Yoda: /* RAPOSA robot */

2009-06-09T15:57:08Z

RAPOSA robot

← Older revision		Revision as of 15:57, 9 June 2009
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	[[Image:Raposa.jpg\|thumb\|250px\|RAPOSA robot]]		[[Image:Raposa.jpg\|thumb\|250px\|RAPOSA robot]]

	The RAPOSA robot is a tracked wheel robot build in cooperation with the Portuguese company [http://www.idmind.pt IDMind], a ISR spinoff, together with the Lisbon firefighters corporation. This project comprised the design and construction of a tracked wheels robot, for the use in SAR operations. The input that the Lisbon firefighters provided was essential for the specification of the platform.		The RAPOSA robot is a tracked wheel robot build in cooperation with the Portuguese company [http://www.idmind.pt IDMind], a ISR spinoff, together with the Lisbon firefighters corporation and the University of South Florida. This project comprised the design and construction of a tracked wheels robot, for the use in SAR operations. The input that the Lisbon firefighters provided was essential for the specification of the platform.

	This project was funded by the ''Agência da Inovação'' (AdI).		This project was funded by the ''Agência da Inovação'' (AdI).

Yoda: /* Blimp aerial robot */

2009-05-28T10:19:44Z

Blimp aerial robot

← Older revision		Revision as of 10:19, 28 May 2009
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	=== Blimp aerial robot ===		=== Blimp aerial robot ===

	''Main page:'' [[Blimp aerial robot]]		''Main page: [[Blimp aerial robot]]''

	Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.		Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.

Yoda: /* Blimp aerial robot */

2009-05-28T10:19:32Z

Blimp aerial robot

← Older revision		Revision as of 10:19, 28 May 2009
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	=== Blimp aerial robot ===		=== Blimp aerial robot ===

			''Main page:'' [[Blimp aerial robot]]

	Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.		Aerial robots are capable of providing invaluable contribution for a cooperative team of robots, first because they can carry cameras and thus sending video stream captured from an altitude position, but also because they may be capable of mapping the terrain. These maps can then be used by land vehicles for navigation.

Yoda at 00:10, 14 February 2009

2009-02-14T00:10:48Z

← Older revision		Revision as of 00:10, 14 February 2009
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	=== URUS project ===		=== URUS project ===

			''Main page: http://urus.upc.es''

	[[Image:URUSmodel.gif\|frame\|Concept drawing of robots socializing with humans in URUS project.]]		[[Image:URUSmodel.gif\|frame\|Concept drawing of robots socializing with humans in URUS project.]]
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	=== Rescue project: Cooperative Navigation for Rescue Robots ===		=== Rescue project: Cooperative Navigation for Rescue Robots ===

			''Main page: http://rescue.isr.ist.utl.pt''

	[[Image:Blimp+Atrv.jpg\|frame\|Aerial and land robots cooperating for Search & Rescue operations.]]		[[Image:Blimp+Atrv.jpg\|frame\|Aerial and land robots cooperating for Search & Rescue operations.]]
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	This project was funded by the ''Fundação para a Ciência e a Tecnologia'' (FCT) under the contract SRI/32546/99-00, and involved ISR/IST VisLab as well.		This project was funded by the ''Fundação para a Ciência e a Tecnologia'' (FCT) under the contract SRI/32546/99-00, and involved ISR/IST VisLab as well.

	~~'''Project link: http://rescue.isr.ist.utl.pt'''~~		=== Localization and Map Building ===

	~~=== Localization and Map Building ===~~		''Main page: http://lrm.isr.ist.utl.pt/rescue''

	[[Image:Rescue.jpg\|thumb\|250px\|ATRV-Jr robot.]]		[[Image:Rescue.jpg\|thumb\|250px\|ATRV-Jr robot.]]
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	In the context of the previously referred Rescue project, research on localization and map building using a land vehicle was carried out. In particular, SLAM techniques were used to build a topological map, as well as navigating along such a map. Topological maps differ from traditional metric maps in the fact that they represent topological relations among landmarks, rather than their exact coordinate position. Maps of urban subways are a classic example of such a map, as for traveling in a subway, the geographical relative positioning among stations is irrelevant. In the case of a SAR robot, cooperating with human teams, it is in general more efficient to communicate using landmark positions, instead of geographical coordinates.		In the context of the previously referred Rescue project, research on localization and map building using a land vehicle was carried out. In particular, SLAM techniques were used to build a topological map, as well as navigating along such a map. Topological maps differ from traditional metric maps in the fact that they represent topological relations among landmarks, rather than their exact coordinate position. Maps of urban subways are a classic example of such a map, as for traveling in a subway, the geographical relative positioning among stations is irrelevant. In the case of a SAR robot, cooperating with human teams, it is in general more efficient to communicate using landmark positions, instead of geographical coordinates.

	~~'''Further details: http://lrm.isr.ist.utl.pt/rescue'''~~

	=== RAPOSA robot ===		=== RAPOSA robot ===

			''Main page: [[RAPOSA robot]]''

	[[Image:Raposa.jpg\|thumb\|250px\|RAPOSA robot]]		[[Image:Raposa.jpg\|thumb\|250px\|RAPOSA robot]]
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	* '''autonomous docking''' to the cable (this robot is capable of attaching a cable providing power and a wireless link access point; is cable is also strong enough to lift the robot up)		* '''autonomous docking''' to the cable (this robot is capable of attaching a cable providing power and a wireless link access point; is cable is also strong enough to lift the robot up)
	* '''autonomous stair climbing''' as this robot was mechanically designed to be able to climb standard stairs; here a control algorithm is capable of driving the robot straight up along a staircase		* '''autonomous stair climbing''' as this robot was mechanically designed to be able to climb standard stairs; here a control algorithm is capable of driving the robot straight up along a staircase
	* '''3D remote operation using a Head Mounted Display (HMD)''' using the camera pairs to feed stereo video, and thus providing the operator with depth perception of the environment the robot ~~is located in~~		* '''3D remote operation using a Head Mounted Display (HMD)''' using the camera pairs to feed stereo video, and thus providing the operator with depth perception of the environment surrounding the robot

	~~'''Further details: [[RAPOSA robot]]'''~~

	=== Blimp aerial robot ===		=== Blimp aerial robot ===

Yoda: /* Research activities */

2009-02-10T14:20:48Z

Research activities

← Older revision		Revision as of 14:20, 10 February 2009
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	== Research activities ==		== Research activities ==

	~~[[Image:URUSmodel.gif\|frame\|Concept drawing of robots socializing with humans in URUS project.]]~~

	Initial work in field robotics comprised Search and Rescue (SAR) scenarios as a unifying testbed for diverse research approaches, ranging from the construction of new platforms, up to high-level coordination of mixed initiative human/robot teams. This sections enumerates these activities in a chronological sequence.		Initial work in field robotics comprised Search and Rescue (SAR) scenarios as a unifying testbed for diverse research approaches, ranging from the construction of new platforms, up to high-level coordination of mixed initiative human/robot teams. This sections enumerates these activities in a chronological sequence.
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	=== URUS project ===		=== URUS project ===

			[[Image:URUSmodel.gif\|frame\|Concept drawing of robots socializing with humans in URUS project.]]

	The URUS project will be focussed in designing a network of robots that in a cooperative way interact with human beings and the environment for tasks of assistance, transportation of goods, and surveillance in urban areas. Specifically, our objective is to design and develop a cognitive network robot architecture that integrates cooperating urban robots, intelligent sensors, intelligent devices and communications. Among the specific technology that will be developed in the project, there will be: navigation coordination; cooperative perception; cooperative map building; task negotiation; human robot interaction; and wireless communication strategies between users (mobile phones), the environment (cameras), and the robots. Moreover, in order to make easy the tasks in the urban environment, commercial platforms that have been specifically designed to navigate and assist humans in such urban settings will be given autonomous mobility capabilities. Proof-of concept tests of the systems developed will take place in a car free area of Barcelona. The initiative of this project comes from the European Group inside of the Research Atelier on Network Robot Systems (a European project) which is producing a Roadmap of Network Robots in Europe.		The URUS project will be focussed in designing a network of robots that in a cooperative way interact with human beings and the environment for tasks of assistance, transportation of goods, and surveillance in urban areas. Specifically, our objective is to design and develop a cognitive network robot architecture that integrates cooperating urban robots, intelligent sensors, intelligent devices and communications. Among the specific technology that will be developed in the project, there will be: navigation coordination; cooperative perception; cooperative map building; task negotiation; human robot interaction; and wireless communication strategies between users (mobile phones), the environment (cameras), and the robots. Moreover, in order to make easy the tasks in the urban environment, commercial platforms that have been specifically designed to navigate and assist humans in such urban settings will be given autonomous mobility capabilities. Proof-of concept tests of the systems developed will take place in a car free area of Barcelona. The initiative of this project comes from the European Group inside of the Research Atelier on Network Robot Systems (a European project) which is producing a Roadmap of Network Robots in Europe.

Yoda: /* Research activities */

2009-02-10T14:20:34Z

Research activities

← Older revision		Revision as of 14:20, 10 February 2009
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	== Research activities ==		== Research activities ==

	[[Image:URUSmodel.gif\|frame\|Concept drawing of robots socializing with humans in URUS project.]		[[Image:URUSmodel.gif\|frame\|Concept drawing of robots socializing with humans in URUS project.]]

	Initial work in field robotics comprised Search and Rescue (SAR) scenarios as a unifying testbed for diverse research approaches, ranging from the construction of new platforms, up to high-level coordination of mixed initiative human/robot teams. This sections enumerates these activities in a chronological sequence.		Initial work in field robotics comprised Search and Rescue (SAR) scenarios as a unifying testbed for diverse research approaches, ranging from the construction of new platforms, up to high-level coordination of mixed initiative human/robot teams. This sections enumerates these activities in a chronological sequence.

Yoda: /* Research activities */

2009-02-10T14:20:25Z

Research activities

← Older revision		Revision as of 14:20, 10 February 2009
Line 4:		Line 4:

	== Research activities ==		== Research activities ==

			[[Image:URUSmodel.gif\|frame\|Concept drawing of robots socializing with humans in URUS project.]

	Initial work in field robotics comprised Search and Rescue (SAR) scenarios as a unifying testbed for diverse research approaches, ranging from the construction of new platforms, up to high-level coordination of mixed initiative human/robot teams. This sections enumerates these activities in a chronological sequence.		Initial work in field robotics comprised Search and Rescue (SAR) scenarios as a unifying testbed for diverse research approaches, ranging from the construction of new platforms, up to high-level coordination of mixed initiative human/robot teams. This sections enumerates these activities in a chronological sequence.