Indoor robot gardening: design and implementation
| Autor: | Alexander Patrikalakis, Luke B. Johnson, Ben Charrow, Melissa Tanner, Mario A. Bollini, Huan Liu, Felipe Dominguez, Jeremy Smith, Nikos Arechiga, Kenneth Donahue, Nikolaus Correll, Lauren L. White, Daniela Rus, Adam Clayton, Daniel E. Soltero, Adrienne Bolger, Timothy Robertson, Samuel Dyar |
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| Přispěvatelé: | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science, Rus, Daniela, Arechiga, Nikos, Bolger, Adrienne M., Bollini, Mario A., Charrow, Ben, Clayton, Adam, Dominguez, Felipe A., Donahue, Kenneth M., Dyar, Samuel S., Johnson, Luke, Liu, Huan, Patrikalakis, Alexander, Robertson, Timothy, Smith, Jeremy, Soltero, Daniel Eduardo, Tanner, Melissa, White, Lauren L., Rus, Daniela L. |
| Rok vydání: | 2010 |
| Předmět: |
Computer science
Mechanical Engineering Mesh networking Real-time computing Computational Mechanics Cognitive neuroscience of visual object recognition Task (computing) Artificial Intelligence Scalability Robot State (computer science) Precision agriculture Architecture Engineering (miscellaneous) Simulation |
| Zdroj: | Rus via Amy Stout |
| ISSN: | 1861-2784 1861-2776 |
| DOI: | 10.1007/s11370-010-0076-1 |
| Popis: | This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams. Swiss National Science Foundation (contract number PBEL2118737) United States. Army Research Office. Multidisciplinary University Research Initiative (MURI SWARMS project W911NF-05-1-0219) National Science Foundation (U.S.) (NSF IIS-0426838) Intel Corporation (EFRI 0735953 Intel) Massachusetts Institute of Technology (UROP program) Massachusetts Institute of Technology (MSRP program) |
| Databáze: | OpenAIRE |
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