IROS2003

Information about IROS2003

Published on January 4, 2008

Author: Simo

Source: authorstream.com

Content

Slide1:  CotsBots: An Off-the-Shelf Platform for Distributed Robotics Sarah Bergbreiter and Dr. Kris Pister Berkeley Sensor and Actuator Center October 29, 2003 History of CotsBots:  History of CotsBots Smart Dust (Warneke, et al. Sensors2002) Microrobots (Hollar, Flynn, Pister. MEMS2002) Add Legs Add Robot Body 1mm 1mm COTS Dust (Hill, et al. ACM OS Review 2000) Goals for CotsBots:  Open-source hardware and software platform for distributed robotics Small, cheap, off-the-shelf, and modular robots Goals for CotsBots Emphasize application design software for large (> 50) robot networks Reduce startup costs to demonstrate distributed multi-robot algorithms Similar Robot Platforms:  Similar Robot Platforms Size Cost ”Off-the-shelf”-1 Khepera II: expensive Robomote (USC): custom design Millibots (CMU): custom design Soccer Robots: custom design Pioneer: large and expensive TARGET SPACE Robomote Soccer Robots Millibots Khepera Pioneer Microrobots CotsBots Hardware:  CotsBots Hardware Atmel ATmega128 4 Mhz 8-bit CPU 4KB RAM 128KB Program Memory RFM TR1000 radio 50 kb/s – ASK Focused hardware acceleration Network programming Atmel ATmega8L 1-8MHz CPU 8KB Program Memory 1KB RAM 2 Discrete H-Bridge Circuits Speed and Direction Control of Motors up to 4A, 30V load 51-pin bus Mica Mote MotorBoard Kyosho Mini-Z RC Car Platform (or others…) Sensor boards available including ADXL202e, magnetometer, light, temp, sound, etc. CotsBots Hardware: Stats:  CotsBots Hardware: Stats Cost 13cm 6cm 6cm Approximately 10 robots assembled per hour from purchased components Size Power: ~1 hour on 4 AAA batteries Speed: Over 120 cm/sec Turning Radius: +/- 30o 80 robots built thus far ”Off-the-shelf”-1 CotsBots Software:  CotsBots Software Use open-source NesC language and code provided by TinyOS group (available on SourceForge) TinyOS is an event-driven operating system useful for behavioral and FSM-type applications Try to abstract as much as possible from the application writer (developer should focus on algorithms) Remain flexible by keeping component-based design CotsBots Software:  CotsBots Software Use open-source NesC language and code provided by TinyOS group (available on SourceForge) TinyOS is an event-driven operating system useful for behavioral and FSM-type applications Try to abstract as much as possible from the application writer (developer should focus on algorithms) Remain flexible by keeping component-based design CotsBots Software:  CotsBots Software Use open-source NesC language and code provided by TinyOS group (available on SourceForge) TinyOS is an event-driven operating system useful for behavioral and FSM-type applications Try to abstract as much as possible from the application writer (developer should focus on algorithms) Remain flexible by keeping component-based design Robot Application Timer Robot Motor Packet Motor Software Motor Packet Tank Motor1 Motor2 MotorBoard Software Mica Software Radio Building an Application: Beep Diffusion:  Building an Application: Beep Diffusion Simple algorithm to spread robots apart Adjusting microphone gain adjusts distance robots move apart Time Slot Manager Send Msg/Beep Listen Drive Obstacle My Slot Heard Msg Heard Beep Hit Obstacle Done Driving Done Driving Building an Application: Beep Diffusion:  Building an Application: Beep Diffusion Build the component graph Write some components (blue boxes are free!) Add a sensorboard with sensors required (4kHz buzzer, mic, 2-axis accelerometer) Building an Application: Beep Diffusion:  Building an Application: Beep Diffusion Implementation 5 robots in 10ft x 10ft area 3.5 second slot time Difficulties with buzzer/tone detector hardware lead to inconsistent beep radius Conclusions:  Conclusions Reduced the startup costs (time and money) for designing distributed robot applications A small, inexpensive, off-the-shelf, and modular hardware platform has been built for distributed robot applications TinyOS provides an open-source software platform which promotes abstraction, code re-use, and flexibility Simplified application development for simple distributed algorithms Acknowledgements:  Acknowledgements Doug Gage and DARPA/SDR, DARPA/NEST for funding Dr. David Culler and the TinyOS group Mica motes distributed by: http://www.xbow.com TinyOS and CotsBots code available at: http://www.sourceforge.net/projects/tinyos

Related presentations


Other presentations created by Simo

MCC Presentation Kick Off v3
28. 09. 2007
0 views

MCC Presentation Kick Off v3

Ch 19
01. 10. 2007
0 views

Ch 19

eric tr03
05. 12. 2007
0 views

eric tr03

managing pain
12. 12. 2007
0 views

managing pain

LHC ATLAS Canada McPherson
27. 09. 2007
0 views

LHC ATLAS Canada McPherson

Cosplay
05. 11. 2007
0 views

Cosplay

Gerhard Haag TPA Pres
16. 11. 2007
0 views

Gerhard Haag TPA Pres

finalpresentation
16. 11. 2007
0 views

finalpresentation

D1 10 Rad Olszewski
19. 11. 2007
0 views

D1 10 Rad Olszewski

Fire Safety Version 2
17. 12. 2007
0 views

Fire Safety Version 2

Stress Management Presentation
18. 12. 2007
0 views

Stress Management Presentation

virtualzoo 000
03. 01. 2008
0 views

virtualzoo 000

11 Grasses
04. 10. 2007
0 views

11 Grasses

Paquette MERLOT MAKES HISTORY
28. 12. 2007
0 views

Paquette MERLOT MAKES HISTORY

A THEORY OF HUMAN NEED lecture
07. 01. 2008
0 views

A THEORY OF HUMAN NEED lecture

NEOPOLIOS 2 final
15. 11. 2007
0 views

NEOPOLIOS 2 final

copyright07
26. 02. 2008
0 views

copyright07

07 Paul Mullen
28. 02. 2008
0 views

07 Paul Mullen

vandergriffs future army
04. 03. 2008
0 views

vandergriffs future army

simile 3
11. 03. 2008
0 views

simile 3

munk economydemographyoil
18. 12. 2007
0 views

munk economydemographyoil

IS1
12. 03. 2008
0 views

IS1

globalspaces
14. 03. 2008
0 views

globalspaces

forum IRTG
18. 03. 2008
0 views

forum IRTG

D1L1
27. 03. 2008
0 views

D1L1

week 05
13. 04. 2008
0 views

week 05

haetc05
13. 12. 2007
0 views

haetc05

Affiliates
29. 10. 2007
0 views

Affiliates

psmp3 anna smrz
21. 11. 2007
0 views

psmp3 anna smrz

New Utility Marking Rule
04. 12. 2007
0 views

New Utility Marking Rule

Create a teaching webpage
05. 11. 2007
0 views

Create a teaching webpage

nomepoesia
21. 11. 2007
0 views

nomepoesia

Hedjazi presentation
19. 12. 2007
0 views

Hedjazi presentation

cre pp rcga rbca seminar
08. 11. 2007
0 views

cre pp rcga rbca seminar

erincook
03. 12. 2007
0 views

erincook

Lecture 110201
07. 11. 2007
0 views

Lecture 110201

ELI slideshow
23. 12. 2007
0 views

ELI slideshow

los meses
05. 11. 2007
0 views

los meses

2007 Laptop Handbook Slides
28. 11. 2007
0 views

2007 Laptop Handbook Slides