ISR Research Topics    

An Agent Based Software Architecture For Teams Of Robots

Dec, 2003

This report describes an Agent Based Software Architecture for Teams of Robots. The described tool provides support for task design, task planning, task execution, task coordination and task analysis for a multi- robot system.

JPG Agent Based Architecture. [250 KB]

Land Vehicle Research: Topological Navigation

Dec, 2003

This web page addresses the development in Localization, Mapping and Features Extraction concerning the Rescue Project Land Vehicle:

Vision Based Control of an Autonomous Blimp

Sep, 2003

This report describes the work done in the final year project VideoBlimp:

JPG Blimp [1,55 MB]

Project Reference Scenario

Sep 18, 2001

After thorough scientific discussions, including the plenary presentation of current research issues on Multi-Agent Systems Architectures, Outdoors Navigation, Robot Vision and Task Design and Coordination, which helped the different groups sharing a common language, a scenario, different from the original project proposal has been approved as the project reference scenario.

JPG Animation [30Mb]

The reference scenario consists of two robots: The aerial robot will perform several tasks, such as making a visual topological map of the destroyed site. The map will include information on the relevance of each of the mapped locations concerning degree of destruction, presence of victims, etc, as well as on the difficulty of traversing regions between them, due to the presence of debris or obstructed paths. The map will be stored as a graph and will be used to choose the best path for the land robot to reach a goal location (e.g., one with a larger number of victoms). It can also be used to help the aerial robot navigating. The land robot will use several sensors (GPS, inertial, vision, sonars) to navigate towards the goal, handling the details associated to the path (e.g., debris, trees, people on the way, etc). Many other tasks can be performed together by the two robots interactively, such as one robot guiding the other to a specific location, one robot recharging the other or bringing tools that may be required, etc. Considering the long term goals of the project, this requires a software architecture capable of handling a real-time distributed control and supervision systems, as well as a task coordination architecture to handle the decisions on which subtasks to dispatch at every time step, so as to optimize the performance in terms of time taken, reliability, cost, utility or other factors. The Portuguese company IdMind has just finished setting up the RWI's ATRV-Jr robot we plan to use as the land robot, equipped with GPS, inertial navigation sensors and a compass.