Robohub.org
 

Robot teams create supply chain to deliver energy to explorer robots

by
22 September 2016



share this:
mobile-robots-robotics

Mobile robots can be used in many applications, they are especially suited for environments that are unreachable or too dangerous for humans. In many cases, these environments have to be explored and mapped before robots can carry on with their mission. Mobile robots are generally limited in their run time and the travel range because they are battery operated. To increase the time robots can work, their batteries can be recharged at docking stations (DSs). Recharging at DSs has the additional advantage of increasing autonomy, reducing the need for human intervention. Nevertheless, robots still have a limited range they can travel before they have to return for recharging. This limits the reachable area by the robots. To overcome this threshold, robots can form teams in which they take on different tasks, allowing some robots to further explore while others form a supply chain to deliver energy to the exploring robots.

There are a number of challenges to solve in this scenario. Firstly, the robots need to be aware of their energy and decide autonomously when to seek a DS or recharger robot. Secondly, exploring robots need to coordinate for deciding which robot is allowed to recharge and where it should recharge. Thirdly, robots need to form teams and coordinate task assignment. All these steps of coordination and scheduling should work in a distributed fashion to make the system adaptive to changes and robust against failures of individual robots.

So far we investigated the first two points and developed coordination strategies. In [1] we present an approach for energy efficient path planning. A robot always calculates the reachable frontiers as well as the distance to the DS. Once there are no more reachable frontiers the robot returns for recharging. This approach makes sure that it fully uses all of its energy without running out of power. In [2] we present a coordination strategy based on market economy for robots to negotiate which robot is allowed to recharge. We also present policies for selecting one of the available DSs and compare their performance in different scenarios.

A short demo and description of the system can be seen in our video:

Christoph Sagmeister, CampusTV Alpen-Adria-Universität


References
[1] M. Rappaport, “Energy-aware mobile robot exploration with adaptive decision thresholds,” in Proc. Int. Symp. on Robotics (ISR), Jun. 2016.
[2] M. Rappaport and C. Bettstetter, “Coordinated recharging of mobile robots during exploration,” under review.



tags: , , ,


Micha Rappaport is a researcher and teaching assistant at the Institute of Networked and Embedded Systems at the Alpen-Adria-Universität Klagenfurt
Micha Rappaport is a researcher and teaching assistant at the Institute of Networked and Embedded Systems at the Alpen-Adria-Universität Klagenfurt





Related posts :



Team builds first living robots that can reproduce

AI-designed Xenobots reveal entirely new form of biological self-replication—promising for regenerative medicine.
02 December 2021, by

Exploring ROS2 using wheeled Robot – #3 – Moving the robot

In this post you’ll learn how to publish to a ROS2 topic using ROS2 C++. We are moving the robot Dolly robot, simulated using Gazebo 11.
30 November 2021, by

An inventory of robotics roadmaps to better inform policy and investment

Silicon Valley Robotics in partnership with the Industrial Activities Board of the IEEE Robotics and Automation Society, is compiling an up to date resource list of various robotics, AIS and AI roadmaps, national or otherwise.
29 November 2021, by

Robots can be companions, caregivers, collaborators — and social influencers

People are hardwired to respond socially to technology that presents itself as even vaguely social. While this may sound like the beginnings of a Black Mirror episode, this tendency is precisely what allows us to enjoy social interactions with robots and place them in caregiver, collaborator or companion roles.
26 November 2021, by

Interview with Tao Chen, Jie Xu and Pulkit Agrawal: CoRL 2021 best paper award winners

The award-winning authors describe their work on a system for general in-hand object re-orientation.
24 November 2021, by
ep.

341

podcast

How Simbe Robotics is Innovating in Retail, with Brad Bogolea

Brad Bogolea discusses the innovation behind Tally, the autonomous robot from Simbe Robotics. Tally collects real-time analytics inside retail stores to improve the customer shopping experience, as well as the efficiency of managing the store.
23 November 2021, by





©2021 - ROBOTS Association


 












©2021 - ROBOTS Association