RobREx - Autonomy in rescue and exploration robots
Rescue and exploration robots (RERs) aid rescue crews in the face of disasters. Current RERs,
including those manufactured by PIAP, are teleoperated, what significantly diminishes their
operating range and requires constant human supervision. The conducted market analysis shows
that in the near future the demand for autonomous devices will dominate. The goal of the project
is to produce a set of technologies and an adequate architecture necessary for the production
of autonomous RERs, or in general service and field robots. The project will deliver technologies
enabling: perception of the environment; navigation and control of mobile platforms and
manipulators; impedance control of manipulators and grippers; intelligent two-handed manipulation; active sensing and the use of ontology common to people and robots. The results will be demonstrated on two robots: a mobile manipulator SCOUT/GRYF manufactured by PIAP and a two-handed robot manipulator.
Three computers were used in the test scenarios. Task Manager was running on the first computer. A few of the Service Managers were running on the second computer. Other system components (Repository, Service Registry, simulation and remaining Service Managers) were running on the third computer. Besides simulation, the system components do not require a lot of computing power, so running them on a single computer was possible.
- initial conditions: Jar002 IsIn Cabinet001
- final conditions: Jar002 Ison Platform001
Scenario 1bDuring the execution of the transport task, a different types of failures may occur. In this scenario, the drive of the robot was damaged. In this case, the robot can still communicate with the rest of the system. It also has a working gripper. The robots puts the object on the ground and sends information about its position to Task Manager (final conditions: Jar002.PositionX = 12.5 AND Jar002.PositionY = 1.3 AND Jar002.PositionZ = 7). As a result, Task Manager may take actions allowing for the completion of the task. In this scenario, Task Manager searches for another service of the type TransferObject (the same type as the type of the service that failed) and invokes it. The initial situation of this task is the situation received from the robot (the current position of the jar). Realization of the second service consists in moving to the position of the jar, lifting it, transporting it to the target position, and putting it on the platform.
Scenario 2Scenario 2 is, partially, an extension of the previous scenario. A hazardous explosive (a bomb) has to be moved to a platform of a device that can dispose of such dangerous objects. The task is realized by two services. The first one is a transport service, the second one disposes of an object which had been previously placed on its platform. The task is defined as follows:
- Initial conditions: Bomb001 IsIn Cabinet001
- Final conditions: Bomb001 IsOn Platform001
Scenario 3aThe task realized in this scenario consists in moving the content of a jar located in a cabinet to a bowl placed on a table. The transfer of the granulate involves an operation of moving the jar and pouring its content to the bowl. The task is defined as follows:
- Initial conditions: ?Granules002 IsIn Jar001
- Final conditions: ?Granules002 IsIn Bowl001