Autonomous Robotic Systems

Sarat Chandra
Twinkle Tripathy
Robot term coined by Karel
Capek in a 1921 science-
fiction Czech play Rossums
Universal Robot (R.U.R)

Joseph Engelberger Father
of Modern Robotics

Isaac Asimov &
Asimovs Laws


History of Robotics
Robot:
a reprogrammable, multifunctional manipulator
designed to move material, parts, tools
specialized devices through variable programmed motions for the
performance of a variety of tasks.


Robots
Manual Controlled Autonomous Robots
Applications of Robots
Tasks which are:
Dangerous
Space exploration
chemical spill cleanup
disarming bombs
disaster cleanup
Boring and/or repetitive
Welding car frames
part pick and place
manufacturing parts.
High precision or high speed
Electronics testing
Surgery
precision machining.
Autonomous Systems
Missile
Space shuttle
Wireless Sensor Networks
Ancient Greek word autonomia means "one
who gives oneself one's own law.
Naturally occurring Patterns
Robotics: Leader Follower
First Attempt: Mimicking flocking of
birds
Algorithm
Move in same direction
Stay close to neighbours
Avoid collision
Robotics ------------------------------------------------------------------------> Formation


Boids computer program ----------------------------------- > Craig Reynolds in 1986
More interesting problems!!!
Consensus
Rendezvous
Formation
Single Agent Multi Agent
Approaches
Cons:

Less robust
Slower

Pros:

Cost Efficient
Less Computational Power need
Simpler hardware implementation

Single Agent
Multi Agent
Pros:

Very Robust
Faster
Scalability
Cons:

Coordination
Costlier
Hardware implementation
Single Agent Vs Multi Agent
Single-agent
Models:
Unicycle
Four wheeled

Coverage
Irrigation
Cleaning

Multi-agent
Consensus

Definition:
Agreement
Applications:
Temperature measurement
Surveillance
Multi-agent
Rendezvous

Definition:
Meet at a point
Applications:
Missile guidance


Multi-agent
Formation

Definition:
Pattern creation
Applications:
Target tracking

Multi-Robot Systems
Fundamental Problems:
Localization
Where am I?
Navigation/Path Planning
Where/How to go?
Mapping
How does the environment look like?
Localization
Def:
To find the position coordinates of a robot in a
given un-known environment.
Need for Localization
To perform accurate mapping
Applications
Rescue Operations
Mining
Surveillance
Sensors
Interoceptive:
Wheel Encoders
IMU

Exteroceptive:
Range Sensors
Vision Sensors
Tactile Sensors


Types of Localization
Self Localization
Interoceptive Sensory Information
Relative Localization
Landmarks
Exact Localization
Centralized System


Navigation
Obstacle Detection
Using Sensor Information
Obstacle Avoidance
Path Planning
Bug algorithms
Potential Field Approach
Optimal Strategies
Shortest path

Path Planning
Idea of Planning and Bug??
Bug Algorithms
Bug 0
Bug 1
Bug 2
Tangent Bug
Potential Field Approach
Shortest Path
Mapping
Multi Robot Exploration
Coordination Strategies
Sensors Used to create a map
Mapping Individually
Map-Merging
Map Position identification
Transformation Matrices

Thank You