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MRI: Development of the Robotarium: A Shared, Remote Access, Multi-Robot Laboratory

MRI：机器人馆的开发：共享、远程访问、多机器人实验室

基本信息

批准号：
1531195
负责人：
Magnus Egerstedt
金额：
$ 105万
依托单位：
Georgia Tech Research Corporation
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2015
资助国家：
美国
起止时间：
2015-09-01 至 2019-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1531195&HistoricalAwards=false
关键词：
MRI Development Robotarium Shared Remote

项目摘要

In the near future, robot-assisted technologies have the potential to improve individuals' qualify of life in almost every aspect of society. However, in order to realize this future, access to instruments that enable discovery in the area of robotics must be ensured. In this regard, this project develops the Robotarium, a world-class, shared multi-robot research and education facility, remotely and locally accessible to users across different educational institutions and age groups. Through an online, open, public interface, users will be able to schedule and run their experiments, while being provided with both streaming video of the experiment as well as the scientific data produced through the experiment. The expected outcome is a first-of-its-kind multi-robot research platform that can be utilized by researchers, educators, and students, without incurring the prohibitive costs associated with setting up and maintaining a suitably-equipped research facility. Even more importantly, however, the expected outcome goes beyond access. A research instrument like the Robotarium has the potential to build stronger networks of collaborative research, thus making the whole significantly larger than the sum of its parts. As such, the end result has the potential to show how remote access research instruments can be structured in other areas beyond robotics.The Robotarium is an open, remote access multi-robot testbed that allows researchers and educators to run robotics experiments without having to incur the prohibitive costs associated with setting up and maintaining an actual research facility. In order to achieve this agenda, research instrumentation efforts in this project are pursued along three different dimensions that will come together to produce a first-of-its-kind open, remote access multi-robot research facility. These three dimensions are: (1) A remote access multi-robot laboratory where researchers, educators, and students can test and run their own coordinated control strategies; (2) Low-cost, high-performance mobile robots designed explicitly to support remote-access multi-robot research; and (3) Instrument development that has operational and cybersecurity primitives built-in, which is critical since remote users can literally take control of physical assets. The Robotarium will not only provide local and remote access to a multi-robotics facility, but it will also facilitate research in a number of areas that will directly benefit from the Robotarium research instrument, such as (i) swarm robotics, (ii) visualization and augmented reality, (iii) cybersecurity, (iv) cyber-physical systems, and (v) formal model-checking of real-time software.

在不久的将来，机器人辅助技术有可能在社会的几乎每个方面提高个人的生活质量。然而，为了实现这一未来，必须确保获得能够在机器人领域进行发现的仪器。在这方面，该项目开发了Robotarium，这是一个世界级的共享多机器人研究和教育设施，可供不同教育机构和年龄组的用户远程和本地访问。通过一个在线的、开放的公共界面，用户将能够安排和运行他们的实验，同时提供实验的流媒体视频以及通过实验产生的科学数据。预期的成果是一个首个可供研究人员、教育工作者和学生使用的多机器人研究平台，而不会产生与建立和维护一个装备适当的研究设施相关的高昂成本。然而，更重要的是，预期的结果不仅仅是准入。像Robotarium这样的研究工具有可能建立更强大的合作研究网络，从而使整体远远大于其部分的总和。因此，最终结果有可能显示远程访问研究仪器可以在机器人技术以外的其他领域构建。Robotarium是一个开放的远程访问多机器人试验台，允许研究人员和教育工作者运行机器人技术实验，而不必承担与建立和维护实际研究设施相关的高昂成本。为了实现这一议程，在这个项目中的研究仪器的努力是追求沿着三个不同的维度，将走到一起，以产生一个第一个同类的开放，远程访问多机器人研究设施。这三个方面是：（1）远程访问多机器人实验室，研究人员，教育工作者和学生可以测试和运行他们自己的协调控制策略;（2）低成本，高性能的移动的机器人明确设计，以支持远程访问多机器人研究;（3）仪器开发，具有内置的操作和网络安全原语，这是至关重要的，因为远程用户可以从字面上控制物理资产。Robotarium不仅将提供对多机器人设施的本地和远程访问，而且还将促进直接受益于Robotarium研究工具的许多领域的研究，例如（i）群机器人，（ii）可视化和增强现实，（iii）网络安全，（iv）网络物理系统，以及（v）实时软件的正式模型检查。