TWINBOT
TWIN roBOTs for cooperative underwater intervention missions
TWIN roBOTs for cooperative underwater intervention missions
The SRV group at the UIB (subproject 3) has been working, since 1996, on Mobile Robotics (MR) and on Robot Vision (RV). The research on MR has focused on: aerial, land and underwater mobile robots prototyping; hybrid control architectures for mobile robots, obstacle avoidance, path planning, collaborative and learning capabilities; localization and mapping strategies. Concerning RV, the main results have been obtained on image processing and understanding algorithms for mobile robot navigation and guidance. More precisely: image segmentation; geometric and radiometric camera calibration; 2D and 3D mapping; algorithms for real-time guidance and for visual navigation. Most of the algorithms have been tested with real robots under field conditions. Previous projects developed by the SRV and mostly related with robot vision and underwater robotics, have been funded by the Spanish Government (MAR99-1062, DPI-2001-2311, DPI2005-09001, DPI2006-28346E, DPI2008-06548, DPI2011-27977, DPI2014-57746, TIN2014-58662R) and by the European Commission (TRIDENT, MINOAS, INCASS eUReady4OS).
The UIB team focuses its efforts on providing visual information to the system wherever it is needed, object detection and tracking as well as on the design and development of cooperative strategies for navigation and mapping. More specific objectives stemming from this general framework are: to design and implement the vision systems payloads of the vehicles to be used during the survey phase and the target localization and manipulation process (O1.3); to develop the control architecture enabling the coordinated navigation of the twin vehicles during all the stages of the mission (O2.2); to improve the methods for the detection and pose estimation of the target during the navigation and mapping stages (O4.2) as well as enable visual servoing functions based on multi-target tracking from multi-view information to effectively guide the end effectors to their respective grasping positions during the manipulation stage (O5.3); to plan and execute cooperative surveys of the mission area with two vehicles (O6.2), guaranteeing the adequate coverage of the area under study and to develop 3D recovery methods based on stereo vision (O7.5) and on a “one-shot” structured laser system (O7.4). Besides, the UIB is also involved in the experimental validation of the cooperative manipulation (O8). Specific Objectives O1.3, O4.2, O7.4 and O8 will be leaded by IP1 (G. Oliver), while IP2 (A. Burguera) will be the responsible of objectives O2.2, O5.3, O6.2 and O7.5.
Multi-vehicle survey and mapping
Multi-vehicle path-planning and collision avoidance
Systems and Methods for 2D and 3D imaging
Object detection, pose estimation and servoing
