TY - GEN
T1 - A vision-based control and interaction framework for a legged underwater robot
AU - Sattar, Junaed
AU - Dudek, Gregory
PY - 2009/11/5
Y1 - 2009/11/5
N2 - We present a vision-based control and interaction framework for mobile robots, and describe its implementation in a legged amphibious robot. The control scheme enables the robot to navigate, follow targets of interest, and interact with human operators. The visual framework presented in this paper enables deployment of the vehicle in underwater environments along with a human scuba diver as the operator, without requiring any external tethered control. We present the current implementation of this framework in our particular family of underwater robots, with a focus on the underlying software and hardware infrastructure. We look at the practical issues pertaining to system implementation as it applies to our framework, from choice of operating systems to communication bus design. While our system has been effectively used in both open-ocean and closed-water environments, we perform some quantitative measurements with an effort to analyze the responsiveness and robustness of the complete architecture.
AB - We present a vision-based control and interaction framework for mobile robots, and describe its implementation in a legged amphibious robot. The control scheme enables the robot to navigate, follow targets of interest, and interact with human operators. The visual framework presented in this paper enables deployment of the vehicle in underwater environments along with a human scuba diver as the operator, without requiring any external tethered control. We present the current implementation of this framework in our particular family of underwater robots, with a focus on the underlying software and hardware infrastructure. We look at the practical issues pertaining to system implementation as it applies to our framework, from choice of operating systems to communication bus design. While our system has been effectively used in both open-ocean and closed-water environments, we perform some quantitative measurements with an effort to analyze the responsiveness and robustness of the complete architecture.
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U2 - 10.1109/CRV.2009.18
DO - 10.1109/CRV.2009.18
M3 - Conference contribution
AN - SCOPUS:70350561930
SN - 9780769536514
T3 - Proceedings of the 2009 Canadian Conference on Computer and Robot Vision, CRV 2009
SP - 329
EP - 336
BT - Proceedings of the 2009 Canadian Conference on Computer and Robot Vision, CRV 2009
T2 - 2009 Canadian Conference on Computer and Robot Vision, CRV 2009
Y2 - 25 May 2009 through 27 May 2009
ER -