Aitken, J. orcid.org/0000-0003-4204-4020, McAree, O. and Veres, S. (2016) Symbiotic relationship between robots - a ROS ARDrone/YouBot library. In: Control (CONTROL), 2016 UKACC 11th International Conference on. 2016 UKACC 11th International Conference on Control, 31 Aug - 02 Sep 2016, Belfast, UK. IEEE ISBN 978-1-4673-9891-6
Abstract
A Symbiotic relationship between robots is theoretically developed. It is characterised by sharing sensory information and tightly coordinating operational logic by taking care of each other’s needs during missions. The system is characterised by an intertwined reasoning system while having separate conditioning and execution of plans to achieve subgoals to support each other. The results are illustrated on strong operational inter-dependence of a rover and a drone through shared logical inference. The drone uses the rover as a landing pad and the rover uses the drone to complements its sensor system by information gathering. There is a GitHub library provided in association with the demonstration for generic use of adding cameras and cooperation logic to a AR.Drone 2.0 and a KUKA youBot system. The benefits of symbiotic relationship are quantitatively evaluated on the demonstration example.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 IEEE. This is an author produced version of a paper subsequently published in Control (CONTROL), 2016 UKACC 11th International Conference on. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Funding Information: | Funder Grant number ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL (EPSRC) EP/J011843/1 ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL (EPSRC) EP/L024942/1 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 09 Sep 2016 11:56 |
Last Modified: | 12 Apr 2017 02:27 |
Published Version: | https://doi.org/10.1109/CONTROL.2016.7737516 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/CONTROL.2016.7737516 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:104332 |