Title: Decentralized multi-arm planning

Author of the experiment: Alessandro Marino & Jolanda Coppola

Description: A two-layer decentralized framework for kinematic control of cooperative and collaborative multi-robot systems is developed and tested. The motion of the system is specified at the workpiece level, by adopting a task-oriented formulation for cooperative tasks. The first layer computes the motion of the single arms in the system. In detail, the control unit of each robot computes the end-effector motion references in a decentralized fashion on the basis of the knowledge of the assigned cooperative task and the motion references computed by its neighbors. Then, in the second layer, each control unit computes the reference joint motion of the corresponding manipulator from the end-effector reference motion.

Setup: 2 Comau SmartSix robots installed at the Automatica Laboratory of University of Salerno.


Title: Cooperative drilling of aeronautic hybrid stacks

Author of the experiment: Alessandro Marino

Description: The proposed technology consists in a general robot architecture and a cooperative drilling process using only standard low-cost robots and off-the-shelf components. A first robot is in charge of drilling the hybrid stack, while a second manipulator ensures the right clamping force between the parts of the stack. Both robots are equipped with force control capabilities to control the generalized forces raising during the interaction with the stack. Thanks to the adoption of a fuzzy inference system, the tuning of the force controllers might be carried out by operators that have knowledge of the drilling process but not of control system technology.

Setup: 2 Comau SmartSix robots equipped with force/torque sensors installed at the Automatica Laboratory of University of Salerno.


Title: Cooperative harbour patrolling

Author of the experiment: Alessandro Marino

Description: Three Surface marine vehicles, entirely designed and assembled by the staff of the Dynamical Systems and Ocean Robotics Laboratory (DSOR-Lab) of the ISR/IST (Instituto Superior Tecnico/Institute for Systems and Robotics) of Lisbon, are adopted. The Medusa vehicles were used to perform the patrolling mission at the Parque Expo site in Lisbon. Patrolling is here interpreted within the framework of the sampling problem. To be applied in practice, several realistic constraints and the time/spatial variance of the information are explicitly taken into account. The proposed approach is well rooted in the concepts of Voronoi tessellations and Gaussian Processes. Each robot, based only on local information, computes the next point to visit according to a given performance criteria.

Setup: 3 surface marine vehicles at the ISR/IST (Instituto Superior Tecnico/Institute for Systems and Robotics).


Title: Cooperative harbour patrolling

Author of the experiment: Alessandro Marino

Description: The Folaga is 2m length and 30Kg weight and with an autonomy of 8 h; it is able to navigate on the sea surface with its own propulsion system; it dives vertically, exploiting ballast and attitude changes. The motion is due to propulsion jet-pumps or to a propeller at the vehicle stern (both options are available). Underwater communication is allowed by WHOI micro-modem based on the Texas Instrument TMS320C5416 DSP able to transmit at about 80 bps. The Folaga vehicles were used for the patrolling mission. Patrolling is here interpreted within the framework of the sampling problem. To be applied in practice, several realistic constraints and the time/spatial variance of the information are explicitly taken into account. The proposed approach is well rooted in the concepts of Voronoi tessellations and Gaussian Processes. Each robot, based only on local information, computes the next point to visit according to a given performance criteria. The scenario used for tests is the Gulf of La Spezia, Italy, and in particular the NATO Undersea Research Center. The volume to patrol is 150×120×4m box 1m below sea level.

Setup: 2 underwater vehicles from Graal Tech.