C&CofMARS
Projects
List of possible projects:.
Small robot construction and integration.
Various projects are defined which involve low-level integration involving the mechanical constructions, electronics, micro-processor and firmware developments. The robots will be equipped with the wireless or IR transmitters.Modeling
Each robot has in general two to three degrees of freedom. They have two wheels and can have a shooting mechanism. The modeling will involve development of kinematic model (i.e. motion of the robot due to rotation of the wheels (for simulation), dynamic modeling (for control)Control
There are three issues, low level, intermediate control and high level control. The low level control is related to the trajectory control of the robot with visual feedback. The intermediate control is essentially tactical control for example to avoid obstacles (i.e. motion of the opponent or team-mates). The high-level control would be the development game strategies. The motion of networked robotics and distributed control systems will be investigated in simulation.Communication
The notion of remote control of multiple robots through internet can be investigated (for simulation). For example, force and position control of mobile robot. Bilateral control of robot through internet. Effect of Internet communication in the closed-loop control. Distributed sensing. IR communication. IR reflectors.Planning
Motion planning using the information from the camera(s). Motion estimation and prediction. Motion planning in a dynamical environment.Vision system
In this project multiple cameras can be placed at various location of the gaming environment (i.e. around the air-hockey table) which are then used and integrated for visual feedback. Active contour tracking and providing information for control algorithm.System architecture
The objective is to develop a modular architecture responsible for various aspects of the integrated system. For example, the main module will be responsible in coordinating the information flow between the above modules and robotic agent.
