Bruno Santos Pimentel, Guilherme Augusto Silva Pereira, Mario Fernando Montenegro Campos. Uma plataforma simplificada para robótica cooperativa. In Anais da III Semana de Pós-Graduação da UFMG, Belo Horizonte, MG, 2001.
This work presents a simple, low cost robotic system built from off-the-shelf sensors and components, designed to perform a series of cooperative tasks in general and tightly coupled tasks in particular. A task is considered tightly coupled when its goal can only be achieved through close interaction of a minimum number of robots (e.g. carrying a box otherwise impossible to a single robot). The experimental results show that it is possible to overcome the various restrictions of these platforms and still implement relatively complex cooperative behaviors. The main idea behind this project is to use common components available in the laboratory to achieve low-cost, satisfactory results in short time. For example, the mechanics, which is one of the most critical aspects of robot design, was implemented using commercial LegoTM blocks, previously applied as a teaching resource in some undergraduate courses. These blocks allow for high flexibility and fast reconfiguration, adapting the system to constantly changing requirements. Although rather simple, the robots have considerable processing and communication capabilities, using several sensors for navigation and object handling. Among these sensors, there is a microcamera which allows the robot to be applied in telepresence and remote monitoring systems, and automatic vision-based control mode as well. With the integration of these resources several experiments were devised, in special a cooperative object carrying task in which a minimum of two robots is needed to transport a relatively large box. In this experiment, a pair of mobile robots traverse an unstructured, constrained environment, while maintaining the box correctly supported. This kind of task should prove very useful in material handling situations commonly found in the industry and in hazardous environments. A detailed description of this project and results of some experiments can be found in the homepage: www.verlab.dcc.ufmg.br/coop
@InProceedings{pimentel01plataforma,
Author = {Santos Pimentel, Bruno and Augusto Silva Pereira, Guilherme and Campos, Mario Fernando Montenegro},
Title = {Uma plataforma simplificada para robótica cooperativa},
BookTitle = {Anais da III Semana de Pós-Graduação da UFMG},
Address = {Belo Horizonte, MG},
Month = {},
Year = {2001}
}
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