From DRLWiki
We wish to develop distributed algorithms for networked quad-rotor flying robots in multi-agent systems. Such robot teams are useful in a broad range of surveillance, security, and telecommunication applications. We explore high-dimensional (3+) coverage controllers, network update schemes, and vision-based localization methods.
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Approach
Our quad-rotor flying robot fleet is composed of six AscTec Hummingbirds. Pitch, roll, and yaw are fully stabilized by the onboard controller described in [1]. Three of the robots are also equipped with an AscTec AutoPilot module, which allows for GPS and altitude position control. We developed an onboard ARM microprocessor module that acquires state estimations from the robot and wireless communicates them to other robots using an xBee module. The same ARM modules run our control algorithms to self-organize in both indoor (motion capture system) and outdoor (GPS, vision localization) environments. Our goal is to realize our researched algorithms on this hardware in fully distributed fashion.
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Optimal Camera Placement
We developed a coverage algorithm for hovering agents that move in three dimension, but monitor a two dimensional environment. In [2] we focused on the specific scenario of flying or floating robots with downward-facing cameras. We address the question of how to deploy multiple robots so that together their cameras produce the most informative image of the environment. Surveillance and environmental monitoring applications are numerous for such an algorithm. We propose a cost function describing the aggregate information per pixel for the group of robots. Taking the gradient with respect to each robot's position yields a distributed controller for driving the robots to locally optimal positions. Figure 2 shows numerical simulations and robots experiments, respectively, for the algorithm. Refer to the Distributed Control Algorithms for Networked Mobile Robots page for more work in this area.
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People
Brian J. Julian
Mac Schwager
Daniela Rus
Collaborators
Michael Angermann, Institute of Communications and Navigation, German Aerospace Center (DLR)
References
[1]
D. Gurdan, J. Stumpf, M. Achtelik, K.M. Doth, G. Hirzinger, D. Rus - Energy-efficient Autonomous Four-rotor Flying Robot Controlled at 1kHz
- The 2006 International Conference on Robotics and Automation. , September, 2006
- Bibtex
[2]
M. Schwager, B. J. Julian, D. Rus - Optimal Coverage for Multiple Hovering Robots with Downward-Facing Cameras
- In the Proceedings of the International Conference on Robotics and Automation (ICRA 09), Accepted , Kobe, Japan, May, 2009
- Bibtex