Networks of Autonomous Unmanned Vehicles

1
Networks of Autonomous Unmanned Vehicles

• Prof. Schwartz
• Presentation to Frontline Robotics
• May 8, 2008

2
Research and Development Areas

• Autonomous Robot Construction.
• Cooperating Mobile Autonomous Robots.
• Vision Systems.
• Robot Flocking and Swarming
• Robot swarms that adapt and learn (game theory
  and evolution).
• Robot teams and learning.

3
Autonomous Vehicles
Built from low cost robot kit. HandyBoard HC11
controller Bluetooth communication channel. Sonar
sensor. Able to control over internet. On board
navigation control.
4
Robotic Tracking

• Activmedia PeopleBot Robot
• 2 DOF camera
• Optical flow-based target detection and
  verification
• Targets motion is estimated using a particle
  filter
• Laser rangefinder
• It is used to determine distance between robot
  and target

5
Robotic Boat

• developed by 4th-year students
• The boat can be controlled over a wireless
  network
• User with a PC and a web browser can control the
  boat from anywhere
• The web server is placed on the on-board
  microcontroller, which has not be done before by
  others

6
Robots leaving a room using game theory
7
Modelling
Robots leaving a room Robots leaving a room Player B Player B
Robots leaving a room Robots leaving a room Walk Wait
Player A Walk -1 X
Player A Wait -1 0
8
Cooperative robots and intelligence

• Robots have own control and navigation
  algorithms
• Robots only know their position and others

9
Video Processing and Understanding
Tracking of video objects
10
Intelligent Video Object Tracking
Tracking, counting and timing of video objects.
11
Networks of Robots and Sensor Swarms
12
Vehicles Playing the Evader Pursuit Game

• Research Topics
• Vehicles Learn Each Others Dynamics.
• Vehicles Adapt Behaviour.
• Coalition and Team Formation

13
Robots avoiding obstacles and following each other
14
Multiple Robots
15
Swarm Intelligence and Personality Evolution

• Game Theory, Coalition formation.
• Evolutionary Game Theory.
• Learning (fuzzy, adaptive, genetic).
• Personality Traits.

16
This is a smart robot
17
Conclusion

• Capability in Building Autonomous Vehicles
• Autonomous Vehicle Control
• Swarming
• Evader/Pursuer

• Learning and Adapting Networks
• Robots leaving a room
• adapting personalities