Adoption of vehicular ad hoc networking protocols by networked robots

This paper focuses on the utilization of wireless networking in the robotics domain. Many researchers have already equipped their robots with wireless communication capabilities, stimulated by the observation that multi-robot systems tend to have several advantages over their single-robot counterparts. Typically, this integration of wireless communication is tackled in a quite pragmatic manner, only a few authors presented novel Robotic Ad Hoc Network (RANET) protocols that were designed specifically with robotic use cases in mind. This is in sharp contrast with the domain of vehicular ad hoc networks (VANET). This observation is the starting point of this paper. If the results of previous efforts focusing on VANET protocols could be reused in the RANET domain, this could lead to rapid progress in the field of networked robots. To investigate this possibility, this paper provides a thorough overview of the related work in the domain of robotic and vehicular ad hoc networks. Based on this information, an exhaustive list of requirements is defined for both types. It is concluded that the most significant difference lies in the fact that VANET protocols are oriented towards low throughput messaging, while RANET protocols have to support high throughput media streaming as well. Although not always with equal importance, all other defined requirements are valid for both protocols. This leads to the conclusion that cross-fertilization between them is an appealing approach for future RANET research. To support such developments, this paper concludes with the definition of an appropriate working plan

Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation

The formation control technique called cluster space control promotes simplified specification and monitoring of the motion of mobile multirobot systems of limited size. Previous paper has established the conceptual foundation of this approach and has experimentally verified and validated its use for various systems implementing kinematic controllers. In this paper, we briefly review the definition of the cluster space framework and introduce a new cluster space dynamic model. This model represents the dynamics of the formation as a whole as a function of the dynamics of the member robots. Given this model, generalized cluster space forces can be applied to the formation, and a Jacobian transpose controller can be implemented to transform cluster space compensation forces into robot-level forces to be applied to the robots in the formation. Then, a nonlinear model-based partition controller is proposed. This controller cancels out the formation dynamics and effectively decouples the cluster space variables. Computer simulations and experimental results using three autonomous surface vessels and four land rovers show the effectiveness of the approach. Finally, sensitivity to errors in the estimation of cluster model parameters is analyzed.Fil: Mas, Ignacio Agustin. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Kitts, Christopher. Santa Clara University; Estados Unido

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace

Development of personal area network (PAN) for mobile robot using bluetooth transceiver

The work presents the concept of providing a Personal Area Network (PAN) for microcontroller based mobile robots using Bluetooth transceiver. With the concept of replacing cable, low cost, low power consumption and communication range between 10m to 100m, Bluetooth is suitable for communication between mobile robots since most mobile robots are powered by batteries and have high mobility. The network aimed to support real-time control of up to two mobile robots from a master mobile robot through communication using Bluetooth transceiver. If a fast network radio link is implemented, a whole new world of possibilities is opened in the research of robotics control and Artificial Intelligence (AI) research works, sending real time image and information. Robots could communicate through obstacles or even through walls. Bluetooth Ad Hoc topology provides a simple communication between devices in close by forming PAN. A system contained of both hardware and software is designed to enable the robots to form a PAN and communicating, sharing information. Three microcontroller based mobile robots are built for this research work. Bluetooth Protocol Stack and mobile robot control architecture is implemented on a single microcontroller chip. The PAN enabled a few mobile robots to communicate with each other to complete a given task. The wireless communication between mobile robots is reliable based from the result of experiments carried out. Thus this is a platform for multi mobile robots system and Ad Hoc networking system. Results from experiments show that microcontroller based mobile robots can easily form a Bluetooth PAN and communicate with each other