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Communication Architecture, Challenges and Paradigms for Robotic - - PowerPoint PPT Presentation
Communication Architecture, Challenges and Paradigms for Robotic - - PowerPoint PPT Presentation
Platzhalter fr Bild, Bild auf Titelfolie hinter das Logo einsetzen Communication Architecture, Challenges and Paradigms for Robotic Firefighters Sebastian Schildt, Stephan Rottmann and Lars Wolf Extremecom 2013, Iceland The RFF Project
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Situations
- S&R in case of Fire
- Indoor fire
- Outdoor (forest fire, bush fire)
- Earthquakes
- Terrorist Attacks
- Operation in Radioactive Environments
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RFF Vision
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RFF Goals
Build IT concepts and framework for robot teams in disaster management scenarios Combining fields of
- Robot Research: Actuators & Sensors (“the hardware”)
- Multi-Agent Research (autonomy, cooperation, coordination)
- Communication (holding it all together in light of harsh and
unpredictable conditions) This is not an exercise in algorithms: Prototypes and Demonstrators right from the start!
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Distributed Common Information Model
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dCIM Datatypes
- Time and Position
- Gridmaps
- No topology maps (except a-priori knowledge to seed grid map)
- Distributed Object/Incident database
- Reporting Unit
- Coordinates
- Timestamps
- States, Goals, Plans
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Dropbox Concept
Improve Information Proliferation Mobile RFF units transport droppable communication boxes WSN Dropbox
- Battery Powered
- INGA Node
- IEEE 802.15.4 & muDTN
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WSN Dropbox
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WSN Dropbox Scenario
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DCIM Dropbox
Aggregate and distribute DCIM data
- Battery Powered
- Wi-Fi & IBR-DTN Bundle Protocol Implementation
- Storage
- Raspberry Pi-based
- Sealed custom case
- Inductive Charging
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DCIM Dropbox Prototype
Charge Controller / Voltage Regulator Power-On Circuit LiPo Cells RaspberryPi SBC Reed Contact WiFi Module
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Droppbox Scenario 2
A B C
Can be dropped based on a-priori knowledge Can be dropped, in case of low connectivity, or as markers
Trajectories Blocked Path Dropbox Target Robot Destination
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Current DCIM Dropbox Prototype (WIP)
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From Concepts to Prototypes
For rapid transition from concepts to working prototypes, RFF uses VREP +ROS for development
Physics Simulation Robot Kinematics Environment Collisions, etc. Components and Middleware for Developing Robot Applications
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VREP
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Experimental Platform
6-wheeled Dagu “Wild Thumper” Platform WSN Dropbox Dropping Mechanism Beaglebone SBC as Controller Custom Interface Board raspINGA IEEE 802.15.4 radio Motor Drivers
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Experimental Platform
GPS Receiver Camera Ultrasonic Distance Sensor Dropping Mechanism Electronics German Oak
(for size Comparison)
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