Using Smart Cameras to Localize Self-Assembling Modular Robots

Abstract

In order to realize the goal of self assembling or self reconfiguring modular robots the constituent modules in the system need to be able to gauge their position and orientation with respect to each other. This paper describes an approach to solving this localization problem by equipping each of the modules in the ensemble with a smart camera system. The paper describes one implementation of this scheme on a modular robotic system and discusses the results of a self assembly experiment. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. ABSTRACT to using self localizing smart camera systems to provide this In order to realize the goal of self assembling or self reconpositioning information. figuring modular robots the constituent modules in the sysIn this paper we describe how self localization techniques tem need to be able to gauge their position and orientation originally developed for automatically localizing collections with respect to each other. This paper describes an approach of distributed smart cameras [1] can be adapted to localize to solving this localization problem by equipping each of the modular robotic components and, hence, to facilitate these modules in the ensemble with a smart camera system. The patypes of self assembly operations. In the proposed scheme, per describes one implementation of this scheme on a modueach of the modular components is equipped with a smart lar robotic system and discusses the results of a self assembly camera system and a controllable light source. The modules experiment.use the lights to signal to each other and they determine their Index Terms-Smart Cameras, Localization, Modular relative pose from the available image measurements.

Task allocation for reconfigurable teams

“…Motion over uneven ground has been demonstrated for the hybrid M-TRAN system [3] and a generic simulated model of latticebased modules [4], among others. Division and merging of groups has been shown in simulation for lattice-based systems [5] and in practice on the chain-based CONRO system [6] and CkBot system [7]. The Roombots system also uses assembly within an overall locomotion process to produce robots of particular shapes at given locations [8].…”

Design and Implementation of a Modular Self-Reconfigurable Robot

“…Self-assembly and transformation are another two remarkable features, of which the docking operation is the final step. The automatic docking mechanism includes electromagnetic connectors [16][17] and mechanical connectors [18]. The connecting strength and the docking precision must be considered.…”

Self-localizing smart camera networks

“…Early versions of the proposed scheme were described in [Taylor 2004;Taylor and Cekander 2005] subsequent works that built on these ideas were presented in [Taylor and Shirmohammadi 2006] and in [BartonSweeney et al 2006]. The concepts were also adapted for use on small self assembling mobile robots as discussed in [Shirmohammadi et al 2007]. This paper describes a novel variant of the scheme which leverages the measurements from three axis accelerometers onboard the cameras.…”