Orchestrating Robotic Artistic Performances: Technical Challenges and Solutions

Grunnleggende konsepter

Artistic performances involving robotic systems present unique technical challenges that require innovative solutions for communication protocols and localization methods to enable seamless execution.

Sammendrag

This paper explores the technical challenges of orchestrating robotic artistic performances based on the use case of an artistic project called DESSAIM. The project involves the deployment of three different robotic swarms - Sushis (small tabletop robots), CrazyCognies (flying robots), and Doodies (human-scale mobile manipulators) - in close proximity to the audience, posing core challenges in communication protocols and localization methods.

The team first describes the approach used to design swarm behaviors, drawing inspiration from nature and using tools like Buzz and ARGoS3 to program and validate the behaviors. The paper then introduces the three robotic swarms and their technical specifications.

The key technical challenges addressed in the paper are:

1. High-frequency critical communication for coordination: The team implemented a publish/subscribe/query protocol called Zenoh to enable reliable and scalable communication among the robots, allowing them to synchronize their states and achieve collective behaviors.

2. Minimal infrastructure global positioning: Given the need for safe motion in the performance space, the team opted for a UWB-based localization strategy, using pre-configured anchors in the environment to derive a rough global estimation. They developed advanced calibration strategies to enhance the accuracy of the UWB-based system.

The paper concludes by highlighting the value of artistic manifestations as challenging field robotic deployments, demonstrating the successful deployment of the three robotic swarms in front of audiences of up to 45 people.

Statistikk

The bandwidth spikes to over 4 MB/s when connecting to the Doodys and launching the software around 250s, similarly around 500s when launching the CrazyCognies. During the normal operation of both swarms, the bandwidth stays below 2 MB/s since each node in the swarm sends gossip below 250 bytes.
The UWB-based pose estimates show errors in the range of tens of centimeters, with occasional fluctuations caused by the abrupt drone movements.

Sitater

"Reliable communication in the application layer of the ISO/OSI model can be achieved using TCP/IP protocols; some existing packages like nimbro network [19] enable it with ROS. However, the configuration task complexity increases rapidly with the growing number of robots and is challenging for large swarms."
"To enhance this, our team has developed advanced calibration strategies, inspired by land surveying techniques, enabling us to install our affordable UWB system (<$1500) in less than 4 hours."

Viktige innsikter hentet fra

From the Lab to the Theater

by Ali Imran,Vi... klokken arxiv.org 04-12-2024

https://arxiv.org/pdf/2404.07795.pdf

Dypere Spørsmål

How can the communication and localization strategies developed in this work be extended to other types of field robotic deployments, such as search and rescue operations or environmental monitoring?

The communication and localization strategies developed in this work can be extended to other field robotic deployments by focusing on adaptability and scalability. For search and rescue operations, where robots need to coordinate in dynamic and unpredictable environments, the use of a publish/subscribe/query protocol like Zenoh can facilitate seamless communication among the robots. This protocol allows for easy addition and removal of robots, crucial in scenarios where the number of deployed robots may vary. Additionally, for environmental monitoring tasks that require precise localization, the UWB-based strategy employed in this project can be beneficial. By using pre-configured anchors in the environment, robots can obtain accurate global estimations, essential for tasks like mapping or data collection in large areas. Implementing advanced calibration techniques, as mentioned in the project, can further enhance the accuracy of localization systems in various field deployments.

What are the potential ethical considerations and safety implications of deploying large-scale robotic swarms in close proximity to human audiences, and how can these be addressed?

Deploying large-scale robotic swarms in close proximity to human audiences raises several ethical considerations and safety implications. One major concern is the risk of physical harm to individuals if the robots malfunction or lose control. To address this, safety measures such as emergency stop mechanisms, as seen in the Doodies platform, should be implemented to ensure quick intervention in case of emergencies. Additionally, clear communication with the audience about the potential risks involved and establishing safety protocols during performances are essential. Ethical considerations include ensuring the privacy and consent of individuals interacting with the robots, especially in public settings. Transparency about data collection and usage by the robotic systems is crucial to maintain trust and respect for individuals' privacy. Regular risk assessments and compliance with safety regulations can help mitigate potential hazards and ensure the well-being of both the audience and the operators.

How might the artistic and creative aspects of this project inspire new directions in the field of human-robot interaction, where robots are not just tools but active participants in the creative process?

The artistic and creative aspects of this project can inspire new directions in the field of human-robot interaction by emphasizing the collaborative and expressive potential of robots. By involving robots as active participants in artistic performances, the project showcases the ability of robots to engage with human audiences on an emotional and aesthetic level. This approach can lead to the development of more engaging and interactive human-robot interfaces, where robots are not just tools but co-creators in creative endeavors. The integration of swarm behaviors inspired by nature and the exploration of expressive robotic movements can influence the design of robots that can communicate and interact with humans in more intuitive and engaging ways. This project highlights the importance of considering the artistic and emotional aspects of human-robot interaction, paving the way for innovative applications in entertainment, education, and therapy where robots play a more active and engaging role in human activities.