A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation

This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobile robot in order to always keep it in its coverage view.Comment: Submitted to 2015 International Conference on Control, Automation and Robotics (ICCAR

Vision Based Target Tracking Using An Unmanned Aerial Vehicle

International audience— We present in this paper a backstepping controller for vision based target tracking with an Unmanned Aerial Vehicle. A down facing camera is used with a pose estimation algorithm to extract the position of the target (an Unmanned Ground Vehicle). The output is then fed into the developed controller to generate the necessary movements (pitch and roll) of the Unmanned Aerial Vehicle in order to keep the target in the coverage view of the camera (following it constantly). The developed scheme is used to help the Unmanned Ground Vehicle to navigate among obstacles, and the overall system is designed in order to help human operator to supervise the Aerial and Ground vehicles for area inspection or object transportation in industrial areas (when using multiple Unmanned Ground Vehicles)

AN OVERVIEW ON CLOUD ROBOTICS

International audienceCloud computing and Service-oriented architecture are becoming a dominant computing paradigm, as all major computing companies are supporting this paradigm and lot more organizations are adopting this paradigm. By using cloud computing in conjunction with robotics, the development of this term cloud robotics, start to joint this new paradigm in the past five years and it’s now ready to participate. Cloud robotics is a very vibrant research area due to its strategic application potentials. The idea is to establish the communication between the cloud and robot .The paper presents an subject how robots can improve their learning mechanism via Cloud Computing and it shows how heterogeneous robots can exchange information about plans, objects and environments among each other. This work introduces our current research which realizes the approach with the aid of the humanoid robot Nao and the cloud service

Micrometre Scale Performances of Industrial Robot Manipulators

Robot precision is usually characterized by repeatability and accuracy. In this paper, we show that these indices are not sufficient to describe robot behaviour at the micrometre scale. New, precision performances are discussed and the experimental procedure to estimate these indices is described. The main results of the experimental work performed on Samsung Faraman and Epson Scara robots are displayed. Reversibility, hysteresis and spatial resolution have to be taken into account when the robot has to be controlled precisely at the micrometre scale. A granular control design including harmonization poses is proposed as a conclusion

Towards a new approach of Robot as a Service (RaaS) in Cloud Computing paradigm

International audienceFor many years, robots appear in most fields. At times, we approach closer to create intelligent robots due to success in computer technology. Current developments in Cloud Computing introduce this concept in robotics field. Many projects have taken initiatives towards Cloud Robotics that allow the robots to outsource computing capabilities over the Cloud, like communication resources, storage, and computing power. The aim of our work is to define a kind of service in the direction of Cloud Robotics, which is ‘Robot as a Service’ (RaaS). This concept is based on the functions of SOA, and means the use of robots features in the Cloud Computing as a demand service

Micrometre Scale Performances of Industrial Robot Manipulators

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A Humanoid Torso For Palletization in Logistics Warehouses

International audienceThis paper presents a new motion controller for object manipulation in 6D-space with a dual-arm robot manipulator. Current industrial systems often consist of a single robot arm commanded through a teach pendant. These systems are unable to pick and place boxes with different dimensions due to the specifications of their end-effector, which is restrictive. Our work involves a dual-arm humanoid robot with two Universal Robots (UR10) arms and a torso (CROM) for manipulating big and/or heavy objects. The motion controller has been designed for coordinated manipulation according to the desired trajectory of the object. To prevent the objects from drifting and falling, an hybrid force-motion controller is implemented using sensors located at the end-effectors. The different components (arms, torso, camera, force sensors...) of the system are controlled using ROS, which is an open-source meta-operating system distributed for research and development in robotics

Decentralized Control Architecture for UAV-UGV Cooperation

2nd AETOS international conference on "Research challenges for future RPAS/UAV systems"— We present a decentralized control architecture for an heterogeneous group of mobile robots made of one Unmanned Aerial Vehicles (UAV) and several Unmanned Ground Vehicles (UGVs) performing collaborative tasks (area inspection, object transportation, etc...). The UAV is used to help a human operator to supervise and guide a group of UGVs by providing an aerial coverage view of the navigation area. Our control scheme is based on minimalistic computation and communication requirements, as well as an architecture complexity kept at a simple level regardless of the deployed number of grounds robots. Simulation and experimentations are performed and show the efficiency of our proposed control architecture