CYCLOP SYSTEM: MOTION CONTROL OF MULTI-ROBOTS THROUGH A SINGLE EYE

George Tho, Douglas Tavares, Pablo Alsina, Luiz Gonçalves

Abstract

We propose a way to control several robots at a glance by using visual data provided by a single vision camera. Position and orientation of the group is given by a main robot (a master) which has a very simple camera on its top. This robot also has two encoders for determining its positioning related to the origin. The other (slave) robots have no position/orientation sensors as camera/angle-sensors. Their only local sensing capabilities are light (infra-red) and bump sensors. They have a top mark that allows the master discovering their orientation and positioning through the vision software. All robots can be controled by using a control software running in a host computer, through a communication protocol also developed in this work. The robots have some software tools running inside a local processor and memory so they can perform some tasks autonomously, as obstacle avoidance. The main goal is to control all slave robots to stay inside the field of view of the master. With this behavior, the master can have control over the slaves position and can eventually send some of them to perform usefull tasks in certain places, inside its field of view.

References

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Paper Citation


in Harvard Style

Tho G., Tavares D., Alsina P. and Gonçalves L. (2004). CYCLOP SYSTEM: MOTION CONTROL OF MULTI-ROBOTS THROUGH A SINGLE EYE . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 339-342. DOI: 10.5220/0001133403390342


in Bibtex Style

@conference{icinco04,
author={George Tho and Douglas Tavares and Pablo Alsina and Luiz Gonçalves},
title={CYCLOP SYSTEM: MOTION CONTROL OF MULTI-ROBOTS THROUGH A SINGLE EYE},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={339-342},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001133403390342},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - CYCLOP SYSTEM: MOTION CONTROL OF MULTI-ROBOTS THROUGH A SINGLE EYE
SN - 972-8865-12-0
AU - Tho G.
AU - Tavares D.
AU - Alsina P.
AU - Gonçalves L.
PY - 2004
SP - 339
EP - 342
DO - 10.5220/0001133403390342