Pheeno, A Versatile Swarm Robotic Research and Education Platform

Sean Wilson, Ruben Gameros, Michael Sheely, Matthew Lin, Kathryn Dover, Robert Gevorkyan, Matt Haberland, Andrea Bertozzi, Spring Berman

Research output: Contribution to journalArticle

Abstract

Swarms of low-cost autonomous robots can potentially be used to collectively perform tasks over very large domains and time scales. Novel robots for swarm applications are currently being developed as a result of recent advances in sensing, actuation, processing, power, and manufacturing. These platforms can be used by researchers to conduct experiments with robot collectives and by educators to include robotic hardware in their curricula. However, existing low-cost robots are specialized and can lack desired sensing, navigation, control, and manipulation capabilities. This letter presents a new mobile robot platform, Pheeno, that is affordable, versatile, and suitable for multirobot research, education, and outreach activities. Users can modify Pheeno for their applications by designing custom modules that attach to its core module. We describe the design of the Pheeno core and a three degree-of-freedom gripper module, which enables unprecedented manipulation capabilities for a robot of Pheeno's size and cost. We experimentally demonstrate Pheeno's ability to fuse measurements from its onboard odometry for global position estimation and use its camera for object identification in real time. We also show that groups of two and three Pheenos can act on commands from a central controller and consistently transport a payload in a desired direction.

Original languageEnglish (US)
Article number7397909
Pages (from-to)884-891
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume1
Issue number2
DOIs
StatePublished - Jul 1 2016

Fingerprint

Swarm Robotics
Robotics
Robot
Education
Robots
Swarm
Module
Manipulation
Sensing
Multi-robot
Autonomous Robots
Costs
Grippers
Mobile Robot
Navigation
Electric fuses
Time Scales
Manufacturing
Camera
Degree of freedom

Keywords

  • Cooperative Manipulators
  • Distributed Robot Systems
  • Education Robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Biomedical Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition

Cite this

Wilson, S., Gameros, R., Sheely, M., Lin, M., Dover, K., Gevorkyan, R., ... Berman, S. (2016). Pheeno, A Versatile Swarm Robotic Research and Education Platform. IEEE Robotics and Automation Letters, 1(2), 884-891. [7397909]. https://doi.org/10.1109/LRA.2016.2524987

Pheeno, A Versatile Swarm Robotic Research and Education Platform. / Wilson, Sean; Gameros, Ruben; Sheely, Michael; Lin, Matthew; Dover, Kathryn; Gevorkyan, Robert; Haberland, Matt; Bertozzi, Andrea; Berman, Spring.

In: IEEE Robotics and Automation Letters, Vol. 1, No. 2, 7397909, 01.07.2016, p. 884-891.

Research output: Contribution to journalArticle

Wilson, S, Gameros, R, Sheely, M, Lin, M, Dover, K, Gevorkyan, R, Haberland, M, Bertozzi, A & Berman, S 2016, 'Pheeno, A Versatile Swarm Robotic Research and Education Platform', IEEE Robotics and Automation Letters, vol. 1, no. 2, 7397909, pp. 884-891. https://doi.org/10.1109/LRA.2016.2524987
Wilson S, Gameros R, Sheely M, Lin M, Dover K, Gevorkyan R et al. Pheeno, A Versatile Swarm Robotic Research and Education Platform. IEEE Robotics and Automation Letters. 2016 Jul 1;1(2):884-891. 7397909. https://doi.org/10.1109/LRA.2016.2524987
Wilson, Sean ; Gameros, Ruben ; Sheely, Michael ; Lin, Matthew ; Dover, Kathryn ; Gevorkyan, Robert ; Haberland, Matt ; Bertozzi, Andrea ; Berman, Spring. / Pheeno, A Versatile Swarm Robotic Research and Education Platform. In: IEEE Robotics and Automation Letters. 2016 ; Vol. 1, No. 2. pp. 884-891.
@article{32c30af65ae64a3db22643e03cb5d903,
title = "Pheeno, A Versatile Swarm Robotic Research and Education Platform",
abstract = "Swarms of low-cost autonomous robots can potentially be used to collectively perform tasks over very large domains and time scales. Novel robots for swarm applications are currently being developed as a result of recent advances in sensing, actuation, processing, power, and manufacturing. These platforms can be used by researchers to conduct experiments with robot collectives and by educators to include robotic hardware in their curricula. However, existing low-cost robots are specialized and can lack desired sensing, navigation, control, and manipulation capabilities. This letter presents a new mobile robot platform, Pheeno, that is affordable, versatile, and suitable for multirobot research, education, and outreach activities. Users can modify Pheeno for their applications by designing custom modules that attach to its core module. We describe the design of the Pheeno core and a three degree-of-freedom gripper module, which enables unprecedented manipulation capabilities for a robot of Pheeno's size and cost. We experimentally demonstrate Pheeno's ability to fuse measurements from its onboard odometry for global position estimation and use its camera for object identification in real time. We also show that groups of two and three Pheenos can act on commands from a central controller and consistently transport a payload in a desired direction.",
keywords = "Cooperative Manipulators, Distributed Robot Systems, Education Robotics",
author = "Sean Wilson and Ruben Gameros and Michael Sheely and Matthew Lin and Kathryn Dover and Robert Gevorkyan and Matt Haberland and Andrea Bertozzi and Spring Berman",
year = "2016",
month = "7",
day = "1",
doi = "10.1109/LRA.2016.2524987",
language = "English (US)",
volume = "1",
pages = "884--891",
journal = "IEEE Robotics and Automation Letters",
issn = "2377-3766",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "2",

}

TY - JOUR

T1 - Pheeno, A Versatile Swarm Robotic Research and Education Platform

AU - Wilson, Sean

AU - Gameros, Ruben

AU - Sheely, Michael

AU - Lin, Matthew

AU - Dover, Kathryn

AU - Gevorkyan, Robert

AU - Haberland, Matt

AU - Bertozzi, Andrea

AU - Berman, Spring

PY - 2016/7/1

Y1 - 2016/7/1

N2 - Swarms of low-cost autonomous robots can potentially be used to collectively perform tasks over very large domains and time scales. Novel robots for swarm applications are currently being developed as a result of recent advances in sensing, actuation, processing, power, and manufacturing. These platforms can be used by researchers to conduct experiments with robot collectives and by educators to include robotic hardware in their curricula. However, existing low-cost robots are specialized and can lack desired sensing, navigation, control, and manipulation capabilities. This letter presents a new mobile robot platform, Pheeno, that is affordable, versatile, and suitable for multirobot research, education, and outreach activities. Users can modify Pheeno for their applications by designing custom modules that attach to its core module. We describe the design of the Pheeno core and a three degree-of-freedom gripper module, which enables unprecedented manipulation capabilities for a robot of Pheeno's size and cost. We experimentally demonstrate Pheeno's ability to fuse measurements from its onboard odometry for global position estimation and use its camera for object identification in real time. We also show that groups of two and three Pheenos can act on commands from a central controller and consistently transport a payload in a desired direction.

AB - Swarms of low-cost autonomous robots can potentially be used to collectively perform tasks over very large domains and time scales. Novel robots for swarm applications are currently being developed as a result of recent advances in sensing, actuation, processing, power, and manufacturing. These platforms can be used by researchers to conduct experiments with robot collectives and by educators to include robotic hardware in their curricula. However, existing low-cost robots are specialized and can lack desired sensing, navigation, control, and manipulation capabilities. This letter presents a new mobile robot platform, Pheeno, that is affordable, versatile, and suitable for multirobot research, education, and outreach activities. Users can modify Pheeno for their applications by designing custom modules that attach to its core module. We describe the design of the Pheeno core and a three degree-of-freedom gripper module, which enables unprecedented manipulation capabilities for a robot of Pheeno's size and cost. We experimentally demonstrate Pheeno's ability to fuse measurements from its onboard odometry for global position estimation and use its camera for object identification in real time. We also show that groups of two and three Pheenos can act on commands from a central controller and consistently transport a payload in a desired direction.

KW - Cooperative Manipulators

KW - Distributed Robot Systems

KW - Education Robotics

UR - http://www.scopus.com/inward/record.url?scp=85035069485&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85035069485&partnerID=8YFLogxK

U2 - 10.1109/LRA.2016.2524987

DO - 10.1109/LRA.2016.2524987

M3 - Article

VL - 1

SP - 884

EP - 891

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

SN - 2377-3766

IS - 2

M1 - 7397909

ER -