Marvin Roe
ABSTRACT
Flexibility is essential during the research, development and testing of multi-robot systems. This paper describes a flexible client/server application and presents examples of how this flexibility is being used. A software architecture is presented that allows multiple analysis tools the ability to control robotic platforms that have different hardware control systems but use similar locomotion control commands and feedback. Two different robotic platform specifications, one for a wheeled robot and one for a boat, are given along with a description of how both are controlled. An example of how both platforms are being used to conduct research is illustrated in order to show some of the advantages of having flexible robotic configuration and control. Various aspects of the application's evolution while supporting Unmanned Underwater Vessel (UUV) team research are presented along with a discussion of future work to be done.
- B. Bourgeois and P. McDowell, "UUV Teams for Deep Water Operations", Proceedings of Underwater Intervention 2001, New Orleans, LA February 27 -- March 2, 2002Google Scholar
- P. McDowell, B. Bourgeois, S. S. Iyengar, "Formation Maneuvering using Passive Acoustic Communications", Proceedings of the ICRA 2004 Conference, April 26 -- May 1, 2004, New Orleans, LAGoogle Scholar
- "LabVIEW user's manual," {Online Document}, April 2003, Available http://www.ni.com/pdf/manuals/320999e.pdfGoogle Scholar
- "Getting Started with MATLAB," {Online Document}, October 2004, Available http://www.mathworks.com/access/helpdesk/help/pdf_doc/matlab/getstart.pdfGoogle Scholar
- 'Pioneer 2 / PeopleBot Operations Manual', ActivMedia Robotics, LLC., Copyright © September 2002Google Scholar
- http://www.dolphinear.com/de-specs.htmGoogle Scholar
- P. McDowell, J. Chen, B. Bourgeois, "UUV Teams, Control From A Biological Perspective", Proceedings of the Oceans 2002 MTS/IEEE Conference, Biloxi MS, pp 331--337Google Scholar
- Brian P. Gerkey, Richard T. Vaughan, Andrew Howard, "The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems", In Proceedings of the International Conference on Advanced Robotics (ICAR 2003). Pages 317--323, Coimbra, Portugal, June 30 -- July 3, 2003.Google Scholar
- Brian P. Gerkey, Richard T. Vaughan, Kasper Stoy, Andrew Howard, Gaurav S Sukhtame, and Maja J Mataric. "Most Valuable Player: A Robot Device Server for Distributed Control.", In Proc. Of the IEEE/RSJ Intl. Conf. On Intelligent Robots and Systems (IROS). Pages 1226--1231, Wailea, Hawaii, October 2001.Google Scholar
- Marvin Roe, Brian Bourgeois, Patrick McDowell 'Simulator Development for Multiple Unmanned Underwater Vehicles', Proceedings of ACM Southeast 2003 Conference, March 2003, Savannah, GAGoogle Scholar
- http://www.realvnc.com/Google Scholar
- http://www.trolltech.com/developer/doc.htmlGoogle Scholar
- Marvin Roe, Brian Bourgeois, Patrick McDowell 'Multi-Robot Positioning System"', Proceedings of ACM Southeast 2004 Conference, March 2004, Huntsville, AL Google ScholarDigital Library
- http://www.omg.orgGoogle Scholar
- Duncan Grisbey, Sai-Lai Lo, David Riddoch, "The omniOrb User's Version 4 Guide", AT&T Laboratories Cambridge, November 2002Google Scholar
- A flexible client/server application for robotic control
Recommendations
Multi-robot position tracking
ACM-SE 42: Proceedings of the 42nd annual Southeast regional conferenceAccurate navigation is just one of the many challenges for successfully coordinating multiple robot interaction. It is especially important when trying to quantify the success of new techniques being developed to achieve coordinated formation ...
An Autonomous and Flexible Robotic Framework for Logistics Applications
In this paper, we present an intelligent and flexible framework for autonomous pick-and-place tasks in previously unknown scenarios. It includes modules for object recognition, environment modeling, motion planning and collision avoidance, as well as ...
A qualitative path planner for robot navigation using human-provided maps
A method for controlling a mobile robot using qualitative inputs in the context of an approximate map, such as one sketched by a human, is presented. By defining a desired trajectory with respect to observable landmarks, human operators can send semi-...
Comments