ASEBA: A Modular Architecture for Event-Based Control of Complex Robots

Recent progress in electronics has allowed the construction of affordable mobile robots. This opens many new opportunities, in particular in the context of collective robotics. However, while several algorithms in this field require global localization, this capability is not yet available in low-cost robots without external electronics. In this paper, we propose a solution to this problem, using only approximate dead-reckoning and infrared sensors measuring the grayscale intensity of a known visual pattern on the ground. Our approach builds on a recursive Bayesian filter, of which we demonstrate two implementations: a dense Markov Localization and a particle-based Monte Carlo Localization. We show that both implementations allow accurate localization on a large variety of patterns, from pseudo-random black and white matrices to grayscale images. We provide a theoretical estimate and an empirical validation of the necessary traveled distance for convergence. We demonstrate the real-time localization of a Thymio II robot. These results show that our system solves the problem of absolute localization of inexpensive robots. This provides a solid base on which to build navigation or behavioral algorithms.

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“…1, left). Thymio II is programmed through the ASEBA framework [12], which connects to Python using D-Bus.…”

Section: Modelmentioning

confidence: 99%

Localization of Inexpensive Robots with Low-Bandwidth Sensors

Wang

Colas

Liu

et al. 2018

Distributed Autonomous Robotic Systems

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“…Three micro-controllers, connected using a CAN bus, manage the real-time part of the robot, including power, sensors and actuators. The ASEBA framework [20] is used to control the whole system and makes the link with ROS controllers. Slam and navigation are implemented using ROS.…”

Section: The Ranger Robotmentioning

confidence: 99%

Ranger, An Example of Integration of Robotics into the Home Ecosystem

Mondada

Fink

Lemaignan

et al. 2015

Mechanisms and Machine Science

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Abstract. This paper presents the concept and an example of robject, a robotic entity embedded in an everyday object. Robjects use the affordance of the original object to ensure an efficient interaction and a high acceptance. The example of the ranger robot shows that this approach can be applied to the domestic environment. We explore the integration of a robot (robject) into a family household, by regarding the home as a ecosystem, which consists of people, parts, products, activities, and interactions. A test of the ranger robot in families validates this holistic approach and shows the impact of this type of design in respect to the complexity of the robotic system.

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“…The swapping state machine is entirely executed on the microcontrollers. The synchronization among the microcontrollers is performed through a CAN bus using the Aseba event-based framework [7]. Each slot has independent charging and monitoring electronics, ensuring a safe operation.…”

Section: Electronic Designmentioning

confidence: 99%

Towards Long-Term Collective Experiments

Vaussard

Rétornaz

Roelofsen

et al. 2013

Advances in Intelligent Systems and Computing

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It is often challenging to manage the battery supply when dealing with a fleet of mobile robots during long experiments. If one uses classical recharge stations, then agents are immobilized during the whole recharge process. In this study, we present a novel approach that employs a battery pack swapping station. Batteries are charged in a rotating barrel, and the robots dock only for the time of the hot-swap process. We attained an unavailability time of only 40 seconds, with a success rate of 100 % on a total of 46 trials. Experiments above 8 hours are performed in three arenas with different configurations, which proves the relevance of our approach.

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ASEBA: A Modular Architecture for Event-Based Control of Complex Robots

Cited by 88 publications

References 26 publications

Localization of Inexpensive Robots with Low-Bandwidth Sensors

Localization of Inexpensive Robots with Low-Bandwidth Sensors

Ranger, An Example of Integration of Robotics into the Home Ecosystem

Towards Long-Term Collective Experiments

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