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Incorporation of MATLAB into a Distributed Behavioral Robotics Architecture

Incorporation of MATLAB into a Distributed Behavioral Robotics Architecture. A. L. Nelson, L. Doitsidis, M. T. Long, K. P. Valavanis, and R. R. Murphy. Overview. Introduction The Distributed Field Architecture Robots and Hardware Example Uses

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Incorporation of MATLAB into a Distributed Behavioral Robotics Architecture

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  1. Incorporation of MATLAB into a Distributed Behavioral Robotics Architecture A. L. Nelson, L. Doitsidis, M. T. Long, K. P. Valavanis, and R. R. Murphy IROS 2004, Sendai, Japan

  2. Overview • Introduction • The Distributed Field Architecture • Robots and Hardware • Example Uses • Basic robot sensor error quantification in outside environments • Waypoint navigation with object avoidance • Conclusions IROS 2004, Sendai, Japan

  3. Introduction • Current robot research demands a versatile control architecture • Heterogeneous Robots • Outdoor environments • Distributed Control • Autonomous Control • Shared Autonomy IROS 2004, Sendai, Japan

  4. Introduction • Motivation • Provide a unified versatile multirobot research platform • Support AI and Control Theoretic work • Unify robot control research and development phases for continuity and reduced development time • Behavior-based robot control architectures IROS 2004, Sendai, Japan

  5. Introduction: Related Work • S. Monteiro, E. Bicho, E. “A dynamical systems approach to behavior-based formation control,” Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, vol. 3, 2002, pp. 2606 – 261. • O. Ewerlid, C. Tidestav and M. Sternad, “Real Time Control using Matlab and Java,” Nordic Matlab Conference, Stockholm, October 27-28, 1997. • A. L. Nelson, E. Grant, T.C. Henderson, “Evolution of neural controllers for competitive game playing with teams of mobile robots,” Journal of Robotics and Autonomous Systems, vol. 46, no. 3, pp. 135-150, Mar 2004. IROS 2004, Sendai, Japan

  6. The Distributed Field Architecture • Distributed • Java-based • Descendant of SFX • Behavior based • Hybrid deliberative reactive architecture IROS 2004, Sendai, Japan

  7. MATLAB Support • JMatLink Modular Support for MATLAB • Decupling of client and server • Modules • MATLAB is shown as a driver implementation module IROS 2004, Sendai, Japan

  8. ... matlink.engPutVariable(engine, “laserData” , laserData.readLaser); matlink.engPutVariable(engine, “gpsData”, gps.readGps); matlink.engEvalString(engine, “sensorData. laserData = laserData”); matlink.engEvalString(engine, “sensorData.gpsData = gpsData”); matlink.engEvalString(engine, “result = mFunction(sensorData.”); resultData = engGetVariable(engine, “result”); .... MATLAB Support • MATLAB runs as full work space • Interpreted functions and scripts • Workspace command line strings • All tool boxes • Workspace accessed by JMatLink with formatted strings IROS 2004, Sendai, Japan

  9. MATLAB Support • MATLAB Usage modes: • Development Phase • Production Phase IROS 2004, Sendai, Japan

  10. Robots and Hardware Heterogeneous outdoor robots IROS 2004, Sendai, Japan

  11. Linear Test Pattern 5 Odometry Filtered GPS Unfiltered GPS 0 Start -5 -10 South --- North (m) -15 -20 -10 -5 0 5 10 15 20 West --- East (m) Application: Basic Sensor Error Characterization • GPS points and points calculated from odometry for an example linear test pattern. IROS 2004, Sendai, Japan

  12. Rectangular Test Pattern Circular Test Pattern 8 10 Odometry Odometry Filtered GPS Filtered GPS 6 5 Unfiltered GPS Unfiltered GPS 4 Start 0 2 0 Start -5 -2 -10 South --- North (m) -4 South --- North (m) -15 -6 -8 -20 -10 -25 -12 -18 -16 -14 -12 -10 -8 -6 -4 -2 0 2 4 West --- East (m) -30 -30 -25 -20 -15 -10 -5 0 5 10 15 20 West --- East (m) Application: Basic Sensor Error Characterization IROS 2004, Sendai, Japan

  13. Ongoing Research • Go to goal with obstacle avoidance IROS 2004, Sendai, Japan

  14. Example Controller Block Diagram IROS 2004, Sendai, Japan

  15. Additional Experiments • Example: Fuzzy Control • Multiple Robots • Obstacle avoidance IROS 2004, Sendai, Japan

  16. Conclusions • A robot control architecture for advanced research was presented • Combined high-level control and modeling environment and a distributed behavior-based architecture • Example usages demonstrate utility of the overall system presented IROS 2004, Sendai, Japan

  17. Acknowledgements • This work was partially supported by a grant form ONR, N 000 14-03-1-786 (2132-033-LO). • L. Doitsidis was partially supported by “IRAKLITOS fellowships for research from the Technical University of Crete, EPEAEK II – 88727 IROS 2004, Sendai, Japan

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