Field Robotics
We are developing technologies that allow robotic systems to assist or replace humans performing tasks that are difficult, repetitive, unpleasant, or take place in hazardous environments. These robotic systems will bring sociological and economic benefits through improved human safety, increased equipment utilisation, reduced maintenance costs and increased production.
Research
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In order for robots to interact with their environment, they need to be able to sense their surroundings and construct a useful world model from that sensory input. Our robots use a variety of sensor systems, including laser, radar, and sonar scanners, as well as mono and stereo vision and infrared cameras. The optimal choice of sensing apparatus for a given application is determined by factors such as the typical features of the environment, the presence of other moving objects, the size and speed of the robotic vehicle, and the type of tasks it must perform. Read more... |
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Using visual perception for robots in an outdoor setting requires algorithms that give reliable and consistent performance in lighting conditions ranging from bright sunlight, through overcast and rainy conditions, to darkness (in the case of 24 hour operations), and possibly poor visibility (such as underwater). Challenges for day-time operations include strong shadows and high-contrast scenes which necessitate intelligent exposure control. Practical vision algorithms must operate in real-time onboard the robot, which introduces additional challenges in cases where the processing computer is limited in terms of power consumption and physical size. Read more... |
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Almost all applications of field robotics require the robot to be able to locate itself with respect to some coordinate system. Our research and expertise in this area includes laser scan matching, beacon-based localisation, visual odometry, and off-board vision-based localisation (using fixed cameras to track the robot). Another common scenario in field robotics occurs when a robot has no known map or accurate measure of its pose, so must simultaneously estimate and maintain both. This is known as Simultaneous Localisation and Mapping (SLAM). Our research focuses on solving the SLAM problem for applications involving long term autonomous operation of robotic vehicles. Read more... |
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For robots to operate effectively, they require not only a model of their environment, but also a thorough 'understanding' of their own range of motion. This requires the implementation of suitable control algorithms for each robot. We are investigating the dynamic modelling and intelligent control of robots, developing control algorithms that take full advantage of the robot's form and provide consistent and reliable operation at the machine's performance boundaries. This technology will allow robots to be used within tight operational constraints, performing tasks using minimum energy and in minimum time. Read more... |
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Underlying all our robots is a large component of near real-time software. The reliability and ease of use of our robot software is critical and hence we have developed a standard suite of software, known as Spring, that enables our researchers to develop and test new robot systems quickly and easily. At the heart of Spring is DDX (Dynamic Data eXchange) which is a collection of tools that allows the easy sharing of data across a robot. Spring has been developed over a period of ten years and has recently been released as Open Source Software, making it available for use by the wider robotics research community. Read more... |
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Shared autonomy describes the situation where control of a machine is shared between a human operator and a computer system. If the operator is located remotely, control can be compromised by the effects of communications latency and reduced bandwidth - meaning that the robot appears unresponsive and the operator has little knowledge of what is happening around the machine. It is therefore critical that the computer control system be designed so as to prevent the machine from causing unintended damage. Our research in this area is developing technology that will make the operation of remote machinery both safe and productive. |
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Aerial Robotics (Unmanned Aircraft Systems) We are developing technologies that will allow the safe, reliable, and cost-effective operation of unmanned aircraft systems (UAS) for scientific and civilian applications. We maintain a strong focus on the dependability of unmanned aircraft as we address the challenges of pilot-less helicopter operations in unknown cluttered environments and turbulent conditions. Reliable UAS operation under such conditions requires dependable hardware and software, precise flight control, robust state estimation, obstacle avoidance, autonomous planning, reasoning and decision making, and a high-level interface to allow the mission to be specified by a non-expert operator. Read more... |
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Robot - Sensor Network Interaction We are exploring ways of using robots to augment the capability of fixed sensor networks. Static nodes have a limited sensing horizon and typically a low-cost sensor, low-computational power and low energy budget. By contrast a mobile agent (robot) has more energy and computation available, and can carry larger and higher quality sensors. Further, since it is capable of returning to base the robot can recharge, download data over a high bandwidth link and recalibrate its sensors. Robots can also physically interact with the environment and with the static sensor network for tasks such as deployment, redeployment and repair of nodes. Meanwhile, the sensor network can act as a communications fabric for mobile agents, and can provide information beyond the range of a robot's on-board sensors. Read more... |
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Our robotics research is supported by a team of engineers and technicians who are skilled in all aspects of robotics hardware design, construction and maintenance. The Engineering Support team is involved from the conceptual design stage though to the full integration of all the electrical, mechanical and electronic components of our robotics platforms. Our projects with industrial partners require the team to maintain up to date qualifications and knowledge of site operating procedures, safety standards, and maintenance schedules in mining and other industries. The team is experienced in working on-site with local technicians to ensure industrial-quality deployments of our automation technologies. Read more... |
Application Areas
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Infrastructure |
