Autonomous mobile robots designing for the medical trash collector task

This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 th IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the ro...

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Bibliographic Details
Main Authors: Simoes, A.S., Carrion, R., Martins, A.C.G., Costa, R.B., Schvarcz, A.F., Buzo, V.R., Felipe, M.H., Ferrari, B.A.
Format: Conference Proceeding
Language:English
Subjects:
Biomedical imaging
Communication system control
Control system synthesis
Cooperative systems
design automation
Educational robots
Medical robotics
Mobile robots
Robot programming
Robot sensing systems
Robotics and automation
Testing
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Summary:This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 th IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task
DOI:10.1109/LARS.2006.334349