kitts

Undergraduate Capstone Projects on Multi-Robot Systems: 

Undergraduate Capstone Projects on Multi-Robot Systems Authored by: Dr. Christopher Kitts Associate Professor Director, Robotic Systems Laboratory Director, Silicon Valley Center for Robotic Exploration & Space Technologies Presented by: Mr. Mike Rasay Doctoral Candidate, Robotic Systems Laboratory

Outline: 

Outline Introduction Undergraduate Projects Formation Flying Aircraft Cooperative Rover Navigation Cooperative Object Transport Academic Framework Summary & Conclusions

Robotic Systems Laboratory: 

Lab: 1 faculty, 3 staff, ~10 grad students, ~35 undergrad students External funding: ~$750,000/yr from gov, industry, academia Space: ~2,000 ft2 on campus,~7,500 ft2 facility at NASA Ames Expertise: system design, controls, teleoperation, automation, etc. Current Field Robotics Robotic Systems Laboratory --------------------------Land – Sea – Air – Space------------------------------- --Field Operation for Real-World Missions-- --------------- Real Mission Data Products--------------- ----------- Sponsors & Partners------------ Gov: NSF, NASA, USAF, NOAA,USGS… Ind: Lockheed, CSA, Mitsubishi, BMW… Univ: Stanford, Wash U, UT Austin… Non-Profit: CSGC, MBARI, IEEE, MTS… - Applications- Geology Biology Land Mngmnt Remote Sensing Archeology

Multi-Robot Systems - Introduction: 

Land: Rovers for Transport Sea: ROVs for Filming Air: Planes for Imaging Space: Satellite Formation Test Multi-Robot Systems - Introduction Selected RSL multi-robot projects

Project 1 – Formation Flying Aircraft: 

Project 1 – Formation Flying Aircraft 3-student 2005 project Added sensors, pan/tilt camera, digital and video comms, microcontrollers, and commercial autopilot to RC aircraft Developed “follow-the-leader” formation flying, auto take-off and landing Approved for UAV flight in FAA Class D airspace 3rd in AUVSI International Graduate UAV Contest

Project 2 – Coordinated Rover Navigation: 

5-student 2005 project Added sensors, digital comm, & microcontrollers to commercial chasses Integrated Matlab controllers and demonstrated “cluster control” navigation 3 of these students used system for grad thesis work; 1 PhD and 3 Masters theses in progress using this system Basis of new NSF project in multi-robot navigation Project 2 – Coordinated Rover Navigation

Project 3 – Coordinated Object Transportation: 

Project 3 – Coordinated Object Transportation 4 student 2004 project and 5 student 2005 project Team1: Developed 2 velocity-controlled omnidriven chasses Team 2: Developed gripper stages and controller for object transport with no transmission of forces/torques Overhead vision system has been added for tracking System has supported 4 Masters theses and a PhD project is about to begin

Student Learning: 

Student Learning Learning outcomes Interdisciplinary design: teams include mech, elec, comp engineers Full-lifecycle exposure: students involved from design through field operation Tools: students learn modern design and analysis tools to support projects Techniques: students practice project man., systems eng., concurrent design Themes for success: Real-world missions New technology development with potential for research Pro-active oversight and mentoring Challenges: Faculty attention on undergrad projects (detracting from other duties) Resources for supporting such a program How do we integrate our program to address these challenges?

Academic Framework – Field Robotics: 

Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation

Academic Framework – Field Robotics: 

Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation Research Opportunities and Impact – Research is Well-Grounded and Attracts Grad Students Design Education Opportunities and Impact – Education is Comprehensive, Team-Based, and Hands-on Mission Science & Services Impact

Academic Framework – Field Robotics: 

Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation Research Opportunities and Impact – Research is Well-Grounded and Attracts Grad Students Design Education Opportunities and Impact – Education is Comprehensive, Team-Based, and Hands-on Mission Science & Services Impact - Integrative research & education - Undergraduate research - Stimulation of grad school interest - Industry/gov/academic collaborations

Academic Framework – Field Robotics: 

Academic Framework – Field Robotics Education / Science / Technology Customers Technology Objectives Mission Objectives Technology Development Mission Development Robotic Systems Field Operation Research Opportunities and Impact – Research is Well-Grounded and Attracts Grad Students Design Education Opportunities and Impact – Education is Comprehensive, Team-Based, and Hands-on Funding Opportunities Mission Science & Services Impact - Integrative research & education - Undergraduate research - Stimulation of grad school interest - Industry/gov/academic collaborations Infrastructure for Courses & Future Missions

Summary & Conclusions: 

Summary & Conclusions SCU field robotics program Robotic systems built for land, sea, air, and space missions Cradle to grave design and operation of systems Numerous collaborators/sponsors from industry, academia, government Undergraduate Capstone Projects in Multi-Robot Systems Formation aircraft, cooperative rover navigation, cooperative object transport Each a remarkable achievement for an undergraduate team Academic Framework Exciting opportunities enabling undergraduate educational excellence To attract and justify investment in these projects, they are leveraged such that:the resulting robotic systems are used: As research testbeds for graduate research As primary field systems for real-world science and technology missions