Robotics @ LAAS/CNRS - ISAE-SUPAERO · Drones that physically interact with their environments:...
Transcript of Robotics @ LAAS/CNRS - ISAE-SUPAERO · Drones that physically interact with their environments:...
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Robotics @ LAAS/CNRS
Research topics Perception, planning and decision-making, control Plus: control architecture, interactions, ambient
intelligence systems, learning
A keyword: autonomy
Decision
Perception
Action
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Robotics @ LAAS/CNRS
Research topics Perception, planning and decision-making, control Plus: control architecture, interactions, ambient
intelligence systems, learning
A keyword: autonomy
Decision
Perception
Action
Research domains Cognitive and interactive Robotics Aerial and Terrestrial Field Robotics Human and anthropomorphic motion Bio-informatics, Molecular motion
Considered applications: Service and personal robotics, cobots, virtual worlds and animation, biochemistry, embedded systems, transport, planetary exploration, defense, civil safety
15 full time researchers 13 faculty members
61 PhD students 9 engineers 9 post-docs
19 visitors and sabbaticals
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Robotics @ LAAS/CNRS
Open source software tools: www.openrobots.org
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Constructive and integrative approach
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Researches on drones @ LAAS/CNRS
In the “Robotics and InteractionS” group: Antonio Franchi, Juan Cortes, Simon Lacroix
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Researches on drones @ LAAS/CNRS
In the “Robotics and InteractionS” group: Antonio Franchi, Juan Cortes, Simon Lacroix
Two different perspectives:
Large scale observation missions: observation drones
Scientific focus on environment mapping and adaptive information gathering (decision making and task planning)
Drones that physically interact with their environments: aerial robots
Scientific focus on motion control and planning, and on design of innovative platforms
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Outdoor large scale observation missions
Cooperative air/ground robots Patrolling missions over known areas"
Backbone project: Action (DGA, 2007-15 – joint work with Onera)
Researches on Mission planning and supervision" Environment modelling " Distributed localization"
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Outdoor large scale observation missions
“Fleet of enduring drones to probe atmospheric phenomena within clouds”
SkyScanner project (RTRA, 2014-16), nurtured within the MAV-RC
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Outdoor large scale observation missions
“Fleet of enduring drones to probe atmospheric phenomena within clouds”
SkyScanner project (RTRA, 2014-16), nurtured within the MAV-RC
Multi-robot exploration revisited"
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Outdoor large scale observation missions
“Fleets of drones to monitor agricultural parcels”
From automatic control to autonomous control
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Outdoor large scale observation missions
“Fleets of drones to monitor agricultural parcels”
From automatic control to autonomous control
Alternate sensors" Hyperspectral imager" Multi-echo Lidar"
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Physical interactions with the environment
“Assembly and structure construction with cooperative free-flying robots” (ARCAS FP7 project, 2011-15)
“Aerial robotic system with advanced manipulation capabilities for industrial inspection and maintenance“ (AEROARMS H2020 project, 2015-19)
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Kino-dynamic motion planning
Planning dynamic motions
Planning load transport motions
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Physical interactions: methods
• Main classes of problems investigated – Motion control
– Mechatronics design – Identification and observation
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Physical interactions: methods
• Main classes of problems investigated – Motion control
– Mechatronics design
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Physical interactions: considered tasks
7.3.2016 Antonio Franchi | Centre National de la Recherche Scientifique (CNRS), LAAS
• Main tasks addressed:
Profile of the Group: Tasks
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– Inspecting/Pushing
– Manipulation &Transportation by cables
– Grasping with multiple ARs
– Aerial-ground co-manipulation
– Takeoff/landing from/on slopes
– Shared control
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Physical interactions: platforms
7.3.2016 Antonio Franchi | Centre National de la Recherche Scientifique (CNRS), LAAS
Profile of the Group: Platforms
• Main hardware platforms
4
Cable tethered
quadrotor
Quadrotor with elastic-joint arm
Fully-actuated by tilting propellers hexarotor and quadrotor
Multi ground-aerial
manipulation system
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Researches on drones @ LAAS/CNRS
In the “Robotics and InteractionS” group: Antonio Franchi, Juan Cortes, Simon Lacroix
Two different perspectives:
Large scale observation missions: observation drones
Scientific focus on environment mapping and adaptive information gathering (decision making and task planning)
Drones that physically interact with their environments: aerial robots
Scientific focus on motion control and planning, and on design of innovative platforms