Eric Colon

CoRoBa, a multi mobile robot control and simulation framework

This paper describes on-going development of a multi robot control framework named CoRoBa. CoRoBa is theoretically founded by reifying Real Time Design Patterns. It uses CORBA as its communication Middleware and consequently benefits from the interoperability of this standard. A multi-robot 3D simulator written in Java3D integrates seamlessly with this framework. Several demonstration applications have been developed to validate the design and implementation options.

The challenges of telerobotics in a nuclear environment

The introduction of advanced robotics into teleoperation in nuclear environments is very hard. Innovations such as sensor-based control, teleprogramming or virtual reality appear only very slowly in real applications. One of the main causes is the lack of proven reliability of those innovations, which depends primarily on the reliability of the hardware and on the reliability of the teleoperated system in use. Therefore, this paper first briefly reviews the state of the art of the reliability of (instrumentation) hardware under ionising radiation. Under intense irradiation, only the simplest sensors survive for a reasonable time. Therefore, this paper describes a man-machine interface that assists a human operator in using these sensors reliably to build a geometric environment model. This paper then discusses the problem of man-machine interfacing more in general, and identifies promising research topics for the future.

CoRoBA, an open framework for multi-sensor robotic system integration

This paper presents the recent developments of a distributed framework for integrating multi-sensor robotic systems and controlling robots. It is based on the communication middleware CORBA.

Humanitarian demining and robotics

Antipersonnel mines are a pestilence and need to be dealt with as quickly as possible. Unfortunately the techniques that are being used have hardly changed since the Second World War. Many people throughout the world are working to improve or perfect new mine-detectors. Some are also endeavouring to develop mechanical solutions to increase efficiency of detection. In particular, this is the aim of the Robotics Laboratory of the Belgian project HUDEM. Our objective is to develop remote-controlled mobile platforms capable of carrying mine-detectors. We first review the essential features these vehicles have to possess, then explain the choice that have been made, and finally present various ongoing developments.

An integrated robotic system for antipersonnel mines detection

Abstract The terrible antipersonnel landmines plague represents a real challenge for the robotics community. The Royal Military Academy of Belgium intends to provide its contribution for solving this problem. The Belgian Hudem project involves different workgroups each focusing on different aspects: data fusion, sensor development and sensor positioning. The Robotics Workgroup develops semi-autonomous mobile systems which carry mine detection sensors. Mechanical, control and location aspects are considered in the different projects. We present in this paper the control and the communication architecture of our robotics detection systems.

Viewing and controlling a mobile robot with common Web technologies

Despite enthusiastic researches all over the world, completely autonomous robots are yet today an utopia. But pure teleoperated Robotics System, as generally used in unknown or dangerous environment, have also their limitations and drawbacks. The introduction of a partial autonomy, where appropriate, could greatly enhance the performances of the man-machine systems. The interactive autonomy objective is to hide sophisticated systems behind simple interfaces and to transparently provide help to the user. These principles can be implemented to control a manipulation arm or a mobile vehicle. Telecontrol is generally associated with video images, nevertheless in specific applications or under special circumstances, the images have a poor quality, can be degraded when using the systems or are not available. This implies the introduction of a 3D model that can be used as stand alone or as augmented reality display. Existing internet technologies can be used for interfacing the real and the virtual worlds. VRML provides the 3D aspects, Java is the unifying language between different computer system, browsers and plug-ins are completing the team. Using these technologies we have developed a multi client/server application to remotely view and control a mobile robot. In this paper we give the description of this application and we provide a basic presentation of the tools.

AMRU 3: teleoperated six-legged electrohydraulic robot

Legged robots represent an alternative to the wheeled or banded platforms and several reasons can justify the development of such architectures. We previously realized two electro- pneumatical robots. We chose to develop an outdoor six-legged electro-hydraulic robot. Our aim was to provide an autonomy of 30 minutes and the capacity to move on terrains with obstacles (maximum 20 cm) and with up- or down-slopes of maximum 30 degree(s). A specific simulation software was used to design the general structure and the legs. The particular design features of the robot lie in a cross-architecture and the inversion of the rear legs. The platform is controlled by a Programmable Logic Controller coupled with the necessary electronic interfaces allowing the teleoperation and the transmission of video signals. Several gaits have been implemented in order to adapt the walk to the environment. Their stability and performances are related.

Autonomous Frontier Based Exploration for Mobile Robots

Autonomous exploration of an unknown environment by a mobile robot can be beneficial as robots can navigate in unknown environments without maps being supplied. Also it provides the possibility to produce maps without human interaction. Frontier based exploration is used here as the method for exploration. Some simulation and real world results with a Pioneer 3-AT are presented and discussed. Both simulation and real world experiments use ROS.

VIEW-FINDER: ROBOTICS ASSISTANCE TO FIRE-FIGHTING SERVICES

In the event of an emergency due to a fire or other crisis, a necessary but time consuming pre-requisite, that could delay the real rescue operation, is to establish whether the ground or area can be entered safely by human emergency workers. The objective of the VIEW-FINDER project is to develop robots which have the primary task of gathering data. The robots are equipped with sensors that detect the presence of chemicals and, in parallel, image data is collected and forwarded to an advanced Control station (COC). The robots will be equipped with a wide array of chemical sensors, on-board cameras, Laser and other sensors to enhance scene understanding and reconstruction. At the Base Station (BS) the data is processed and combined with geographical information originating from a web of sources; thus providing the personnel leading the operation with in-situ processed data that can improve decision making. This paper will focus on the Crisis Management Information System that has been developed for improving a Disaster Management Action Plan and for linking the Control Station with a out-site Crisis Management Centre, and on the software tools implemented on the mobile robot gathering data in the outdoor area of the crisis.

Development and evaluation of distributed control algorithms for the mobile robot Nomad200

The Nomad200 is an electrical mobile robot who is equipped with different kinds of sensors. It can be programmed and controlled in two ways: directly via the on board PC card or remotely via a UNIX workstation. In the late case, commands and data are transmitted by an ethernet radio link. The purpose of this work is to build a robust navigation algorithm that has to be included in a general robotics application. This algorithm uses the laser sensor and the infrared sensors to build a map of the environment. The map is constructed step by step during the motion of the robot and a complete path is computed at each update of them map. The Voronic retraction method, the A algorithm and custom techniques are used to obtain the free way. Two different speed controllers, one heuristic and one using the fuzzy logic theory, have also been developed. The program was first written on the remote Host Station. But, in order to give to the robot a better autonomy and to prevent the communication failures, a distributed control of the robot has been implemented. We propose in this work different solutions for the distribution of the control. Each solution has been tested in simulation and with the real robot.