Undergraduate Capstone Projects on Multi-Robot Systems Authored by: Dr. Christopher Kitts Associate Professor Director, Robotic Systems Laboratory Director,

Undergraduate Capstone Projects on Multi-Robot Systems

Authored by: Dr. Christopher Kitts Associate Professor Director, Robotic Systems Laboratory Director, Silicon Valley Center for Robotic Exploration & Space TechnologiesPresented by: Mr. Mike Rasay

Doctoral Candidate, Robotic Systems Laboratory

Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University

Outline

Introduction

Undergraduate Projects– Formation Flying Aircraft– Cooperative Rover Navigation– Cooperative Object Transport

Academic Framework

Summary & Conclusions


Lab: 1 faculty, 3 staff, ~10 grad students, ~35 undergrad students External funding: ~$750,000/yr from gov, industry, academia Space: ~2,000 ft2 on campus,~7,500 ft2 facility at NASA Ames

Expertise: system design, controls, teleoperation, automation, etc. Current Field Robotics

Robotic Systems Laboratory

--------------------------Land – Sea – Air – Space-------------------------------

--Field Operation for Real-World Missions-- --------------- Real Mission Data Products---------------

----------- Sponsors & Partners------------Gov: NSF, NASA, USAF, NOAA,USGS…Ind: Lockheed, CSA, Mitsubishi, BMW…Univ: Stanford, Wash U, UT Austin…Non-Profit: CSGC, MBARI, IEEE, MTS…

- Applications-GeologyBiology

Land MngmntRemote Sensing

Archeology


Land: Rovers for Transport Sea: ROVs for Filming

Air: Planes for Imaging Space: Satellite Formation Test

Multi-Robot Systems - Introduction

Selected RSL multi-robot projects


Project 1 – Formation Flying Aircraft

3-student 2005 project

Added sensors, pan/tilt camera, digital and video comms, microcontrollers, and commercial autopilot to RC aircraft

Developed “follow-the-leader” formation flying, auto take-off and landing

Approved for UAV flight in FAA Class D airspace

3rd in AUVSI International Graduate UAV Contest


5-student 2005 project

Added sensors, digital comm, & microcontrollers to commercial chasses

Integrated Matlab controllers and demonstrated “cluster control” navigation

3 of these students used system for grad thesis work; 1 PhD and 3 Masters theses in progress using this system

Basis of new NSF project in multi-robot navigation

Project 2 – Coordinated Rover Navigation


Project 3 – Coordinated Object Transportation

4 student 2004 project and 5 student 2005 project

Team1: Developed 2 velocity-controlled omnidriven chasses

Team 2: Developed gripper stages and controller for object transport with no transmission of forces/torques

Overhead vision system has been added for tracking

System has supported 4 Masters theses and a PhD project is about to begin


Student Learning

Learning outcomes– Interdisciplinary design: teams include mech, elec, comp engineers– Full-lifecycle exposure: students involved from design through field operation – Tools: students learn modern design and analysis tools to support projects – Techniques: students practice project man., systems eng., concurrent design

Themes for success:– Real-world missions– New technology development with potential for research– Pro-active oversight and mentoring

Challenges: – Faculty attention on undergrad projects (detracting from other duties)– Resources for supporting such a program– How do we integrate our program to address these challenges?


Academic Framework – Field Robotics

Education / Science / Technology Customers

Technology Objectives

Mission Objectives

Technology Development

Mission Development

Robotic Systems

Field Operation





Mission Objectives


Mission Development

Robotic Systems

Field Operation

Research Opportunities and Impact – Research is

Well-Grounded and Attracts Grad Students

Design Education Opportunities and

Impact – Education is Comprehensive, Team-Based, and Hands-on

Mission Science & Services Impact





Mission Objectives


Mission Development

Robotic Systems

Field Operation






- Integrative research & education- Undergraduate research- Stimulation of grad school interest- Industry/gov/academic collaborations





Mission Objectives


Mission Development

Robotic Systems

Field Operation





Funding Opportunities


- Integrative research & education- Undergraduate research- Stimulation of grad school interest- Industry/gov/academic collaborations

Infrastructure for Courses & Future

Missions


Summary & Conclusions

SCU field robotics program– Robotic systems built for land, sea, air, and space missions– Cradle to grave design and operation of systems– Numerous collaborators/sponsors from industry, academia, government

Undergraduate Capstone Projects in Multi-Robot Systems– Formation aircraft, cooperative rover navigation, cooperative object transport– Each a remarkable achievement for an undergraduate team

Academic Framework– Exciting opportunities enabling undergraduate educational excellence– To attract and justify investment in these projects, they are leveraged such

that:the resulting robotic systems are used: As research testbeds for graduate research As primary field systems for real-world science and technology missions

Documents

Undergraduate Capstone Projects on Multi-Robot Systems Authored by: Dr. Christopher Kitts Associate Professor Director, Robotic Systems Laboratory Director,