The MU Mites Robot Team Marjorie Skubic Derek Anderson Srikanth Kavirayani Mohammed Khalilia...
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Transcript of The MU Mites Robot Team Marjorie Skubic Derek Anderson Srikanth Kavirayani Mohammed Khalilia...
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The MU Mites Robot Team
Marjorie SkubicDerek Anderson
Srikanth KavirayaniMohammed Khalilia
Benjamin Shelton
Computational Intelligence Research LabUniversity of Missouri-Columbia
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Outline
• A sketch interface for one robot (previous)
• A new sketch interface for controlling a robot team
• Robot design
• Robot formations
• Sketch understanding methods
• Concluding Remarks
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A Sketch Interface for One Robot
The user sketches a route map for the robot to follow.
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A Sketch Interface for One Robot
chair
crate
table
files
trash boxes
cabinet
desk
And the robot follows the sketch.
How can we use a sketch-based interface to control a team of robots?
Guinness
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A Sketch Interface for a Robot TeamSketch a robot formation
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Robot Design
Sensors:IR receiver for commandsCMUcam (color) 3 front IR sensors1 rear IR sensorUse knob setting for ID#
Actuators:2 motors for differential control
with wheel encodersand a passive front wheel
Servo motor for the camera
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Robot Formations
• Follow the leader– Leader moves straight
– Followers track & follow orange
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Robot Formations
• Follow the leader in a circle– Leader moves clockwise or
counter-clockwise as drawn
– Followers track & follow orange
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Robot Formations
• Follow the leader in a square– Leader moves clockwise or
counter-clockwise as drawn– Followers move in squares of a
different size
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Robot Formations
• March side by side– Cameras aimed at the side
– Track green & move forward
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Sketch Pad Reference FrameUser can set the reference frame
Default: Assume initial robot direction is away from the user
1. Go forward2. Turn right, go forward
3. Turn left, go forward
4. Turn around, go forward
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Sketch Understanding Methods
• Symbol recognition via trained Hidden Markov Models – clockwise and counter-clockwise– Arrow
– Line
– Rectangle
– Ellipse
– Triangle
From AAAI Fall Symposium 2004 paper (Anderson, Bailey & Skubic)
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Sketch Understanding Methods
• HMM features– Local angle
– Independent of orientation
• Global feature– Open vs. closed
• Filter out false alarms using local features
Feature extraction
Feature Distribution for Triangle (left) and Circle (right)
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Sketch Understanding Methods
Typical HMM Results
Correctly recognized
Correctly not recognized
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Sketch Understanding Methods
• Squiggle for a robot icon– Displayed as a solid
black circle
• Delete robot icon– 2 short lines that
intersect
– Shown in green
• Move robot icon– Grab and drag to new
location
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PDA to Robot Commands
• Control commands– Forward– Reverse– Right turn– Left turn– Turn around– Stop
• Initialization– Reset ID– Set ID from sensors
• Formations– March 2
– March 3
– Follow 2-Line
– Follow 3-Line
– Left Circle
– Right Circle
– Left Square
– Right Square
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PDA-only Functions
• Clear the sketch
• Set reference frame
• Reference frame instruction
• Train IR commands
• Toggle IR on/off
• Toggle sound on/off
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Challenges
• Recognizing sketched symbols – Complicated by multiple PDA platforms
• Interpreting a configuration of symbols• Editing commands on the PDA• IR communication from PDA to robot• Defining a reference frame for directional
commands • Multi-robot formations based on local sensing
only
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Future Work• Sketch understanding
– Explore different features for improved recognition
– Extend the recognizer to multi-stroke symbols
– Explore hierarchical representations for symbol configurations
• Robot control– Scale up to support communication, synchronization, and
negotiation between robots
– Investigate more complex tasks
Supported in part by the Naval Research Lab
Publications at www.cecs.missouri.edu/~skubic/Papers
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The Team
Derek SrikanthMohammed Ben