Skip to main content

Customized Sensing for Robot Swarms

  • Chapter
  • First Online:
Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 109))

Abstract

This paper describes a novel and compact design for an omni-directional stereo camera. A key goal of the work is to investigate the use of rapid prototyping to make the mirrors for the device, by 3D printing the mirror shape and chroming the surface. The target application is in robot swarms, and we discuss how the ability to create a customized omni-camera enables sensing to become an integrated part of system design, avoiding the constraints that arise when using commercial sensors.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

Notes

  1. 1.

    www.vicon.com, www.optitrack.com

  2. 2.

    www.ubisense.com

  3. 3.

    We used the Objet Eden 350V, 16 micron layer resolution.

  4. 4.

    www.opencv.org.

References

  1. Alonso-Mora, J., Breitenmoser, A., Rufli, M., Siegwart, R., Beardsley, P.: Image and animation display with multiple robots. Int. J. Robot. Res. 31(6), 753-773 (2012)

    Article  Google Scholar 

  2. Alonso-Mora, J., Schoch, M., Breitenmoser, A., Siegwart, R., Beardsley, P.: Object and animation display with multiple aerial vehicles. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1078-1083 (2012)

    Google Scholar 

  3. Zhou, J., Shi, J.: RFID localization algorithms and applicationsa review. In: Journal of Intelligent Manufacturing (2009)

    Google Scholar 

  4. Leung, K.Y.K., Barfoot, T.D., Liu, H.H.: Distributed and decentralized cooperative simultaneous localization and mapping for dynamic and sparse robot networks, pp. 3841-3847 (2011)

    Google Scholar 

  5. Yi-ping, T., Qing, W., Ming-li, Z., Jun, J., Yi-hua, Z.: Design of vertically aligned binocular omnistereo vision sensor. EURASIP J. Image Video Proc. 2010 (2010)

    Google Scholar 

  6. Cabral, E.L., de Souza, J., Hunold, M.C.: Omnidirectional stereo vision with a hyperbolic double lobed mirror. In: Proceedings of the 17th International Conference on Pattern Recognition, ICPR 2004. vol. 1, pp. 1-9. IEEE (2004)

    Google Scholar 

  7. Yi, S., Ahuja, N.: An omnidirectional stereo vision system using a single camera. In: 18th International Conference on Pattern Recognition, 2006. ICPR 2006. vol. 4, pp. 861-865. IEEE (2006)

    Google Scholar 

  8. Soltero, D.E., Julian, B.J., Onal, C.D., Rus, D.: A lightweight modular 12-dof print-and-fold hexapod. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, pp. 1465-1471. IEEE (2013)

    Google Scholar 

  9. Kawabata, K., Sato, H., Suzuki, T., Tobe, Y.: A wireless camera node with passive self-righting mechanism for capturing surrounding view. In: Gallegos-Funes, F. (ed.) Vision Sensors and Edge Detection, InTech (2010)

    Google Scholar 

  10. Mondada, F., Bonani, M., Raemy, X., Pugh, J., Cianci, C., Klaptocz, A., Magnenat, S., Zufferey, J.C., Floreano, D., Martinoli, A.: The e-puck, a robot designed for education in engineering. In: Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions, vol. 1, pp. 59-65 (2009)

    Google Scholar 

  11. Geiger, A., Moosmann, F., Car, O., Schuster, B.: Automatic camera and range sensor calibration using a single shot. In: International Conference on Robotics and Automation (ICRA), St. Paul (2012)

    Google Scholar 

  12. Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics (Intelligent Robotics and Autonomous Agents). The MIT Press (2005)

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to D. Jud .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing Switzerland

About this chapter

Cite this chapter

Jud, D., Mora, J.A., Rehder, J., Siegwart, R., Beardsley, P. (2016). Customized Sensing for Robot Swarms. In: Hsieh, M., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 109. Springer, Cham. https://doi.org/10.1007/978-3-319-23778-7_34

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-23778-7_34

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23777-0

  • Online ISBN: 978-3-319-23778-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics