World Technology Evaluation Center International Study of Robotics Research Robotic Vehicles Robotic vehicles study group: Arthur Sanderson, Rensselaer Polytechnic Institute (Presenter) George Bekey, University of Southern California Brian Wilcox, NASA Jet Propulsion Laboratory I. What are Robotic Vehicles? Machines that move autonomously on the ground, in the air, under the sea or in space Robotic vehicles are Unmanned, either remotely operated or fully autonomous. USC, USA Ifremer, France CMU, USA 2 NIST,USA
Why are Robotic Vehicles Important? Go where people can t go - > space, oceans, CMU, USA Cybernetix, France Hazardous environments > contaminants, military, Do tasks over large spaces - > agriculture, environment, > urban and built environments NASA, USA3 How? What technology is needed? Engineering Design Biomimetic Design Air Ground Sea 4
How? What technology is needed? Engineering Design Biomimetic Design Air Ground Sea 5 How? What technology is needed? Engineering Design Biomimetic Design Air Ground Sea 6
Example: NASA Mars Rover Remote Hostile Environment Large Scale Exploration Sensors and Navigation Autonomous Power NASA, USA 7 Example: Deep Ocean Exploration Remote and Hazardous Environment Sensors and Visual Linkage Tethered or Untethered Operation Titanic Exploration Alvin and Jason Undersea Robotic Vehicles WHOI, USA 8
Example: Deep Ocean Exploration Remote and Hazardous Environment Sensors and Visual Linkage Tethered or Untethered Operation 9 II. Research Challenges Mechanisms and Mobility Power and Propulsion Computation and Control Sensors and Navigation Univ Penn, USA UC Berkeley, USA DEKA Ibot, USA Univ Genova, Italy 10
Mechanisms and Mobility Principles of Motion - wheels vs legs Analysis of Movement - walking gaits Materials - weight, compliance Stanford, USA KAIST, Korea 11 Mechanisms and Mobility Principles of Motion - wheels vs legs Analysis of Movement - walking gaits Materials - weight, compliance KAIST, Korea Stanford, USA 12
Power and Propulsion Source of Power - duration - efficiency e.g. batteries, fuel cells Harvesting Energy e.g. solar cells Efficiency and Energy Management JAMSTEC, Japan AUSI-RPI-FSI, USA 13 Computation and Control Embedded computer systems create intelligent computer architectures, organizing sensor-based feedback and control actions. HIERARCHICAL Strategic Planning Navigation and Planning Supervisory Control Motor Control Hierarchical and Behavioral Structures BEHAVIORAL 14
Sensors and Navigation Where am I? Do I have a map? How do I move to accomplish a task? CMU, USA Univ Oxford, UK 15 Example: Military Navigation Multiple Vehicles: Land, Sea, Air Dynamic Coordination Large Scale Operations Sensor Feedback and Assessment Human Interaction UPenn, USA Stanford, USA 16
III. International Survey 17 U.S. Robotic Vehicles Military and Defense Systems Space Robotics Agriculture and Field Robotics Undersea Vehicles Science and Security Search and Rescue Robotics CMU, USA 18
U.S. Robotic Vehicles CMU, USA 19 U.S. Military and Defense Robotics Foster-Miller, USA CMU, USA General Dynamics, USA Bluefin, USA Hydroid Remus, USA 20
U.S. Field Robotics Mining Agriculture Hazardous Environments IH, USA Caterpillar, USA Caterpillar, USA 21 U.S. Undersea Robotics AUV Environment and Coastal Security Deep Sea Missions Science AOSN MBARI JHU, USA AUSI, USA WHOI, USA UHawaii, USA 22
U.S. Search and Rescue Robotics Hazardous Missions Rapid Response Human Interaction CRASAR, USF, USA CRASAR, USF, USA 23 Japan/Korea Robotic Vehicles Personal and Service Robotics Biomimetic Mobility Undersea Vehicles and Systems Sunkkyunkwan Univ, Korea Korea Hanool,Korea Korea 24
Japan/Korea Personal and Service Household Eldercare Security and Surveillance Search and Rescue Robotics Entertainment Fujitsu, Japan Fujitsu, Japan Hanool,Korea 25 Japan/Korea Biomimetic Mobility Locomotion Humanoid Walking SONY, Japan KAIST, Korea Univ Tokyo, Japan Honda, Japan 26
Japan/Korea Biomimetic Mobility Locomotion Humanoid Walking KAIST, Korea Univ Tokyo, Japan SONY, Japan 27 Japan/Korea Biomimetic Mobility Insect Motion Swimming Energy Sources Sungkyunkwan Univ, Korea Univ Tokyo, Japan Univ Tokyo, Japan POSTECH, Korea Univ Nagoya, Japan 28
Japan/Korea Biomimetic Mobility Insect Motion Swimming Energy Sources Univ Tokyo, Japan JAMSTEC, Japan Univ Nagoya, Japan 29 Japan/Korea Undersea Robotics Deep Ocean Science AUV Technologies JAMSTEC, Japan Univ Tokyo, Japan 30
Europe Robotic Vehicles Navigation and Architectures Transportation Systems Personal and Service Robotics Undersea Vehicles EPFL, Switzerland Univ Essex, UK Univ Pisa, Italy Univ Genova, Italy 31 Europe Navigation and Architecture Sensor-Based Navigation Vehicle Control Systems Infrastructure Applications Univ Oxford, UK Univ Seville, Spain 32
Europe Navigation and Architecture Sensor-Based Navigation Vehicle Control Systems Infrastructure Applications Univ Oxford, UK Univ Oxford, UK 33 Europe Transportation Systems Vision-Based Vehicle Control Urban Transport Systems Navigation and Mapping in Structured Environments INRIA, France Univ Bundeswehr, Germany 34
Europe Personal and Service Robotics Household Robotics Rehabilitation and Eldercare Search and Rescue Robotics Univ Oxford, UK INRIA, France 35 Europe Undersea Robotics AUV Systems Deep Ocean Science Oil and Gas Industry Applications Ifremer, France Univ Girona, Spain Cybernetix, France Ifremer, France Univ Girona, Spain 36
Europe Undersea Robotics 37 IV. Comparative Review RESEARCH PRIORITIES in ROBOTIC VEHICLES US Outdoor Vehicular Mobility: Ground, Air, Undersea Navigation and Mapping in Complex Outdoor Environments Key Applications: Defense, Space Japan/Korea Indoor Mobility using humanoid locomotion Novel mechanisms of locomotion Key Applications: Service, Entertainment, Commercial Applications Europe Mobility in urban and built environments Sensor-based Navigation with maps Key Applications: Infrastructure support and transportation 38
Comparative Analysis: Robotic Vehicles BASIC AREA Mobility US JAPAN/ KOREA EUROPE Power Architecture Navigation APPLICATIONS Entertainment Field Military Personal/Service Space Transportation Undersea 39 Comparative Analysis: Robotic Vehicles BASIC AREA Mobility US JAPAN/ KOREA EUROPE Power Architecture Navigation APPLICATIONS Entertainment Field Military Personal/Service Space Transportation Undersea 40
Comparative Analysis: Robotic Vehicles BASIC AREA Mobility US JAPAN/ KOREA EUROPE Power Architecture Navigation APPLICATIONS Entertainment Field Military Personal/Service Space Transportation Undersea 41 Comparative Analysis: Robotic Vehicles BASIC AREA Mobility US JAPAN/ KOREA EUROPE Power Architecture Navigation APPLICATIONS Entertainment Field Military Personal/Service Space Transportation Undersea 42
Robotic Vehicles: Summary US leadership in robotic vehicles has been strongly dependent on federal mission-oriented programs (DOD, NASA, ), and continuity of investment in basic research will be critical. US lags in the identification of strategic priorities that could translate vehicle capabilities to innovative commercial, industrial, and civil infrastructure applications. Japan and Korea have aggressive national plans and investment to develop mobile robots supporting personal and service applications, including healthcare and eldercare. The European community has developed strategic plans that coordinate vehicle programs and emphasize civilian and urban infrastructure, as well as some space applications. 43 Robotic Vehicles: Future Challenges Multivehicle Systems Distributed Sensor Networks and Observatories Long-Term Reliable Deployment Micro and Nanoscale Mobility Efficient and Independent Power Human-Robot Vehicle Interactions - Service and Entertainment JHU, USA CENS, USA 44