Multirobot heterogeneous control considering secondary objectives

Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with di erent configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia–CEDI

Mecanismos de cooperación en robots como agentes móviles

Tesis doctoral inédita. Universidad Autónoma de Madrid, Escuela Politécnica Superior, octubre de 201

Diseño de un laboratorio de robótica autónoma

Versión electrónica de la ponencia presentada en VII Congreso Tecnologías Aplicadas a la Enseñanza de la Electrónica, TAEE 2006, celebrado en Madrid en 2006En este trabajo se presenta una nueva plataforma hardware/software destinada a la realización de prácticas de robótica autónoma que se está aplicando actualmente en titulaciones de Ingeniería Informática y de Telecomunicación, pero que es lo suficientemente abierta en su concepción y manejo para ser utilizada en otro tipo de estudios superiores. El diseño abierto de esta plataforma permite al alumno centrarse, bien en el desarrollo de algoritmos y pruebas de software, utilizando cualquier lenguaje y bajo cualquier SO o bien centrarse en el diseño e implementación de nuevos sistemas periféricos sensores o de control

FPGA-based embedded system for ultrasonic positioning

Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. A. Sánchez, Á. de Castro, G. Gonzalez-de-Rivera, and J. Garrido, "FPGA-based embedded system for ultrasonic positioning", 2010 IEEE International Symposium on Industrial Electronics, ISIE, Bari (Italy), 2010, pp. 3051 - 3056This paper presents an FPGA-based ultrasonic location system. This system uses low-cost FPGAs and ultrasonic transducers to provide 3-D location to mobile nodes in an indoor environment. Synchronization is reached using the radiofrequency transducers that mobile nodes usually include. FPGAs have been used to sample ultrasonics and radiofrequency inside a custom peripheral which is attached to a MicroBlaze soft-processor. The calculus of the position of the mobile node is accomplished inside this processor.This work has been partially supported by the CCG08-UAM/TIC-4258 project of the Comunidad de Madrid and UAM and by the TEC2009-09871 project of the Ministerio de Ciencia e Innovacion of Spai

Plataforma para el diseño de drivers software de alto y bajo nivel para dispositivos hardware

Versión electrónica de la ponencia presentada en el Congreso de Tecnologías Aplicadas a la Enseñanza de la Electrónica en 2006, celebrado en ZaragozaSe presenta una plataforma hardware que permite la experimentación en varias materias dentro de la electrónica y en el ámbito académico de un centro de enseñanza superior. Por ejemplo materias relacionadas con el control de dispositivos electrónicos desde el PC, el diseño de drivers, la programación de microcontroladores o el uso de protocolos de comunicación serie y paralelo. Con esta plataforma se facilita la modificación de las prácticas a realizar curso tras curso en los diferentes laboratorios donde se aplique y sobre todo sin necesidad de dotar cada año al laboratorio de un nuevo mate

Hardware Independent Architecture for Autonomous Colaborative Agents

This is an electronic version of the paper presented at the 2nd International Conference on Informatics in Control, Automation and Robotics, held in Barcelona on 2005We describe a modular mobile robot test system. This architecture allows easy inclusion of user hardware and communication modules. A client-server, XML/RPC based approach makes the system easy to program and neutral in respect to the operating system and the programming language used. The hardware modules are included using a hardware independent protocol. This feature of the system makes it very flexible and easy to use and reconfigure. The architecture by itself has support for many different communication modalities

Autonomous indoor ultrasonic positioning system based on a low-cost conditioning circuit

This is the author’s version of a work that was accepted for publication in Measurement. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Measurement, Vol. 45, Issue 3, (2012) DOI: http://dx.doi.org/10.1016/j.measurement.2011.12.002This work presents a low cost 3-D location system based on ultrasonics and implemented with low-cost FPGAs. The mobile nodes of the system use distance estimation to several anchor points in order to trilaterate their positions with an accuracy of few centimeters. The ultrasonic transducers are handled with an ad hoc conditioning circuit based on instrumental amplifiers which provides high amplification keeping low noise. The proposed system is autonomous so there is no need of an external PC or other devices. A prototype of the system has been attached to a mobile robot to check the viability of the location system in a real scenario.This work has been partially supported by the TEC2009-09871 project of the Ministerio de Ciencia e Innovacion, Spain

GP_BOT: plataforma hardware para la enseñanza de robótica en la titulación de ingeniería informática.

Versión electrónica de la ponencia presentada en V Congreso de Tecnologías Aplicadas a la Enseñanza de la Electrónica, celebrado en Las Palmas de Gran Canaria en 2002En este artículo se resumen las principales características de unas tarjetas basadas en el microcontrolador MC68HC908GP32 de Motorola, que se utilizan en el Laboratorio de la asignatura Robótica Autónoma en la carrera de Ingeniería Informática de la Universidad Autónoma de Madrid

Control de acceso mediante tarjeta chip: Aplicaciones de Control a través de Internet

Versión electrónica de la ponencia presentada en V Congreso de Tecnologías Aplicadas a la Enseñanza de la Electrónica, celebrado en Gran Canaria en 2002En este artículo se presenta un sistema real de control de accesos desarrollado por alumnos de nuestra Escuela. Este proyecto ha servido de plataforma para desarrollar los conocimientos no sólo de sistemas embebidos basados en microcontrolador, sino también para practicar las comunicaciones TCP/IP y el desarrollo de la base de datos de usuarios y su software de gestión

Environment mapping using a 3D laser scanner for unmanned ground vehicles

This is the author’s version of a work that was accepted for publication in Microprocessors and Microsystems. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Microprocessors and Microsystems, Vol 39, Issue 8, (2015) DOI 10.1016/j.micpro.2015.10.003Unmanned ground vehicles need accurate sensors to detect obstacles and map their surroundings. Laser-based distance sensors offers precise results, but 3D off-the-shelf sensors may be too expensive. This paper presents a 3D sensing system using a 2D laser sensor with a rotation system. Point cloud density analyses are presented in order to achieve the optimal rotation speed depending on the vehicle speed, distance to obstacles, etc. The proposed system is able to generate real-time point clouds, detect obstacles and produce maps, with high accuracy and a reasonable price (less than 5, 000 USD).This work has been done with an INNPACTO program support, in the frame of ARGOS project IPT - 2012 - 0308 - 390000 (Union Europea, Fondos FEDER). It is a joint project between Robomotion and the HCTLab, Human Computer Technology Laboratory, of Universidad Aut onoma de Madrid, Spain