The field of coordinated robotics lies at the intersection of creative design, advanced dynamic modeling, and deft application of feedback control theory.
Recent advances in these active fields of research,
together with concomitant advances in mechatronics, inexpensive sensors (MEMS gyros & accelerometers, magnetometors, and encoders), batteries, GPS, digital electronics,
imaging systems, wireless & satellite communication, and high performance computing,
open up the potential for a revolution in the capabilities of small mobile robotic systems,
and coordinated swarms of such systems deployed for addressing a variety grand challenge applications.
Our group is developing several new classes of such systems (this website currently discusses four:
iHop,
iceCube,
Switchblade, and
iFling) that each leverage heavily
these advances to enable a wide range of capabilities, functionality, and applications.
Many of the fundamental design features in these four vehicle classes are now patent pending.
All of the vehicles discussed represent a tight synthesis of design and control; indeed the mantra of design for control is paramount in these studies,
as good controls is not an effective substitute for good design. Towards this end, we are reminded of the following quote from the Tao Te Ching:
Thirty spokes share the wheel's hub; it is the center hole that makes it useful.
Shape clay into a vessel; it is the space within that makes it useful.
Cut doors and windows for a room; it is the holes which make it useful.
Therefore benefit comes from what is there; usefulness comes from what is not.
Motivation for highly maneuverable autonomous or semi-autonomous robotic systems [UAV, UGV, USV, and UUV;
that is, unmanned aerial, ground, surface (i.e., floating), and underwater vehicles, respectively]
include
(1) urban and battlefield reconnaissance,
(2) detection and detonation or defusing of IEDs and landmines,
(3) exploration and patrol of caves, mines, tunnels, and HVAC (heating, ventellation, and air conditioning) systems,
(4) monitoring and repair of remote cables and pipes (including Gulf-coast underwater oil pipes),
(5) scouting within hazardous buildings (in case of fire, radioactivity, urban warfare),
(6) accurate environmental monitoring and forecasting (hurricanes, ocean currents, Icelandic ash plumes, chem/rad/bio plumes from plant explosions or dirty bombs),
(7) planetary exploration,
(8) personal assistance (stair-climbing wheelchairs, motorized scooters, cleaning systems for floors, pools, windows, & ceilings), and
(9) entertaining toys.
Though there are various notable successes in some of these areas, there are also many notable failures. Much more is possible in the near future with the technology available today.
The particular UGVs described in this article do not focus on any one of these applications in particular, but are motivated by enhanced agility requirements
that arise in many of them.
The first major development of remote-controlled UGVs was the Goliath,
developed by Germany during WWII as an explosives delivery system;
modern incarnations of this basic treaded vehicle design include the Pacbot by iRobot
and the Talon by Foster-Miller, both fielded by the US military, with articulated
manipulator arms, primarily for IED disposal.
In contrast, the vehicles developed in the present work leverage advanced dynamics & controls; like modern fighter aircraft,
supplanting static stability with effective use of feedback control in UGVs can lead to greatly improved maneuverability and efficiency at significantly reduced weight.
