Projects within CyberScout

Projects

The current projects under the umbrella of CyberScout are:

CyberRAVE: Real and Virtual Environment for Multiple Robots
Millibots: Heterogeneous group of small autonomous robots with modular payloads and sensing platforms
Gyrover: A Single-Wheel, Gyroscopically Stabilized Robot

CyberRAVE:

Real and Virtual Environment for Multiple Robots

Faculty:

Dr. John Dolan, Dr. Pradeep K. Khosla, Dr. Chris J. J. Paredis

Research Staff:

Dr. Wesley H. Huang

Visiting Researcher:

Dr. Jesus Salido Tercero

Graduate Students:

Robert Grabowski, Soshi Iba, Kevin Dixon, Mahesh Saptharishi

Undergraduate Students:

Tridib Chakravarty, Elliott P Delaye, Ted Pham

More Images:
[Tank's interior] [PC104] [Chris, Bob and Wes]

CyberRAVE is a general-purpose framework to run and simulate multiple mobile robot systems. It provides a uniform interface for programming robots in a multiple-robot system so that programs may be developed in simulation and transferred to real robots with minimal effort. Real robots and virtual robots can also interact with each other. CyberRAVE's simulation environment provides the capability for virtual sensors that may be placed on real or virtual robots and can detect robots (real and virtual) as well as virtual obstacles. In this manner, multiple-robot systems can be run entirely in simulation, with a combination of real and virtual entities, or with entirely real entities. Graphical user interfaces allow users to set up, execute, monitor, and interact with a run.

Two retrofitted R/C tanks (Patton & Rommel) are currently used to test the CyberRAVE environment. They are equipped with 8 ring sonars, 7 IR obstacle detectors, pan-tilt camera, stereo microphones, and 68HC11 microcontroller + i486 based PC104 for on-board computation and sensor information distribution.

Millibots:

Heterogeneous group of small autonomous robots with modular payloads and sensing platforms (word doc-8MB)

Faculty:

Dr. Pradeep K. Khosla, Dr. Chris J. J. Paredis

Graduate Students:

Robert Grabowski, Luis E. Navarro-Serment

Undergraduate Students:

Ethan T. Bold, Brian J Dougherty, Yaron Rachlin, Zoe Woodworth

More Images:
[Millibot, taken apart] [Millibot] [Millibot]

Millibots are small semi-autonomous and autonomous robots to be deployed by a larger robot or field agent. We envision a group of robots:

that are capable of repositioning themselves for maximum sensor efficiency

that form a group of heterogeneous robots complementing each other for complete mission capability with modular payloads

Current Millibot modules include processing units, motor controllers, sensors (IR, sonar), pan/tilt platforms, RF link transceivers. A common serial protocol is planned for inter-modular communications where actuation, sensing and communication processes will run in a distributed fashion. We are investigating feasibility of additional modules for alternative sensing, communication and data processing methodologies as well as improved reliability, precision, and decision making.

[ Tell me more about the Millibots Project ]

Gyrover:

A Single-Wheel, Gyroscopically Stabilized Robot

Faculty:

Dr. Pradeep K. Khosla, H. Benjamin Brown

Research Staff:
Randy Casciola

Graduate Students:
Scott Cape

Undergraduate Students:
Arne Suppe

Gyrover is a single-wheel robot that is stabilized and steered by means of an internal, mechanical gyroscope. Gyrover can stand and turn in place, move deliberately at low speed, climb moderate grades (about 20%), and move stably on rough terrain at high speeds (10 kph or more). It has a relatively large rolling diameter which facilitates motion over rough terrain; a single track and narrow profile for obstacle avoidance; and is completely enclosed for protection from the environment. Gyrover is able to right itself when it falls on its side. With proper design, Gyrover can float and propel itself on water, and may be useful in amphibious operations. The third and latest version is 16" (40 cm) is diameter and weighs 16 pounds (7.3 kg). It carries an onboard computer (486 PC), attitude sensors, videocamera and radio systems for control inputs and video transmission. With appropriate control software, we expect GyroverIII to be able to perform reliable locomotion over a variety of terrains in response to intermittent, high-level commands from a remote operator.

[ Tell me more about the Gyrover Project ]

CyberRAVE:	*Real and Virtual Environment for Multiple Robots*
Faculty:	Dr. John Dolan, Dr. Pradeep K. Khosla, Dr. Chris J. J. Paredis
Research Staff:	Dr. Wesley H. Huang
Visiting Researcher:	Dr. Jesus Salido Tercero
Graduate Students:	Robert Grabowski, Soshi Iba, Kevin Dixon, Mahesh Saptharishi
Undergraduate Students:	Tridib Chakravarty, Elliott P Delaye, Ted Pham
More Images: [Tank's interior] [PC104] [Chris, Bob and Wes]	CyberRAVE is a general-purpose framework to run and simulate multiple mobile robot systems. It provides a uniform interface for programming robots in a multiple-robot system so that programs may be developed in simulation and transferred to real robots with minimal effort. Real robots and virtual robots can also interact with each other. CyberRAVE's simulation environment provides the capability for virtual sensors that may be placed on real or virtual robots and can detect robots (real and virtual) as well as virtual obstacles. In this manner, multiple-robot systems can be run entirely in simulation, with a combination of real and virtual entities, or with entirely real entities. Graphical user interfaces allow users to set up, execute, monitor, and interact with a run. Two retrofitted R/C tanks (Patton & Rommel) are currently used to test the CyberRAVE environment. They are equipped with 8 ring sonars, 7 IR obstacle detectors, pan-tilt camera, stereo microphones, and 68HC11 microcontroller + i486 based PC104 for on-board computation and sensor information distribution.

Millibots:	*Heterogeneous group of small autonomous robots with modular payloads and sensing platforms* *(word doc-8MB)*
Faculty:	Dr. Pradeep K. Khosla, Dr. Chris J. J. Paredis
Graduate Students:	Robert Grabowski, Luis E. Navarro-Serment
Undergraduate Students:	Ethan T. Bold, Brian J Dougherty, Yaron Rachlin, Zoe Woodworth
More Images: [Millibot, taken apart] [Millibot] [Millibot]	Millibots are small semi-autonomous and autonomous robots to be deployed by a larger robot or field agent. We envision a group of robots: that are capable of repositioning themselves for maximum sensor efficiency that form a group of heterogeneous robots complementing each other for complete mission capability with modular payloads Current Millibot modules include processing units, motor controllers, sensors (IR, sonar), pan/tilt platforms, RF link transceivers. A common serial protocol is planned for inter-modular communications where actuation, sensing and communication processes will run in a distributed fashion. We are investigating feasibility of additional modules for alternative sensing, communication and data processing methodologies as well as improved reliability, precision, and decision making. [ Tell me more about the Millibots Project ]

Gyrover:	*A Single-Wheel, Gyroscopically Stabilized Robot*
Faculty:	Dr. Pradeep K. Khosla, H. Benjamin Brown
Research Staff:	Randy Casciola
Graduate Students:	Scott Cape
Undergraduate Students:	Arne Suppe
	Gyrover is a single-wheel robot that is stabilized and steered by means of an internal, mechanical gyroscope. Gyrover can stand and turn in place, move deliberately at low speed, climb moderate grades (about 20%), and move stably on rough terrain at high speeds (10 kph or more). It has a relatively large rolling diameter which facilitates motion over rough terrain; a single track and narrow profile for obstacle avoidance; and is completely enclosed for protection from the environment. Gyrover is able to right itself when it falls on its side. With proper design, Gyrover can float and propel itself on water, and may be useful in amphibious operations. The third and latest version is 16" (40 cm) is diameter and weighs 16 pounds (7.3 kg). It carries an onboard computer (486 PC), attitude sensors, videocamera and radio systems for control inputs and video transmission. With appropriate control software, we expect GyroverIII to be able to perform reliable locomotion over a variety of terrains in response to intermittent, high-level commands from a remote operator. [ Tell me more about the Gyrover Project ]