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:
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.
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.
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ข้อมูลเชิงลึกที่สำคัญจาก
by Ali Imran,Vi... ที่ arxiv.org 04-12-2024
https://arxiv.org/pdf/2404.07795.pdfสอบถามเพิ่มเติม