MRI: Development of a Mobile Robot Instrument Cluster

MRI：移动机器人仪表组的开发

• 批准号: 0619940
• 负责人: Christopher Kitts
• 金额: $ 36.69万
• 依托单位: Santa Clara University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2006
• 资助国家: 美国
• 起止时间: 2006-09-01 至 2010-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0619940&HistoricalAwards=false
• 关键词: MRI; Development; Mobile; Robot; Instrument

This project, exploring the coordinated navigation and task-oriented control of a cluster of mobile robots, develops a capable, flexible, and maintainable testbed. This system enables the Development of an experimental demonstration of novel, robust, & high-precision multi-robot capabilities, Ability to integrate alternate subsystem-level innovations and to support their comparative validation, Expansion of testbed access to graduate students from several engineering departments, and Inclusion of the testbed in a variety of educational classes/projects and outreach/exhibition activities.The infrastructure consists of homogeneous, distributed, mobile instruments that exploit real-time cooperation in order to improve the cost-effectiveness of tasks and/or to enable entirely new capabilities. In order to support the rapid reconfiguration of system resources and the logging of appropriate experimental data, the project develops a flexible architecture integrated with acquired hardware components. The capabilities of the system supports research in the design and control of multi-robot systems for diverse applications ranging from distributed in situ/remote sensing to distributed object manipulation/transportation. The flexible nature of the system allows exploring innovations in centralized/decentralized control and communication, local or remote human-in-the loop vs. automated control, absolute vs. relative sensing, etc.

本计画探讨群移动的机器人的协调导航与任务导向控制，并开发一个有能力、灵活且可维护的实验平台。该系统能够开发新型、稳健、&高精度多机器人功能的实验演示，能够集成替代子系统级创新并支持其比较验证，将测试平台扩展到多个工程系的研究生，并将测试平台纳入各种教育课程/项目和推广/展览活动。基础设施包括同质、分布式、移动的仪器，利用实时合作，以提高任务的成本效益和/或使全新的能力。为了支持系统资源的快速重新配置和适当的实验数据的记录，该项目开发了一个灵活的体系结构与收购的硬件组件集成。该系统的能力支持研究的多机器人系统的设计和控制，从分布式原位/遥感分布式对象的操作/运输的各种应用。系统的灵活性允许探索集中/分散控制和通信、本地或远程人在回路与自动控制、绝对与相对传感等方面的创新。