The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We document our initial efforts to instantiate visually-guided cooperative behaviors between robotic agents in the minifactory environment. The minifactory incorporates high-precision, 2-DOF robotic agents to perform micron-level precision 4-DOF assembly tasks. Here we utilize two minifactory agents to perform visual servoing. We present a detailed description of the control and communication systems used to coordinate the agents. To provide a suitable communications infrastructure, we describe the development of a new interagent communication system which uses low-latency protocols carried by a commercial 100 Mb Ethernet network. Finally, we conclude by presenting experimental results front our first coordinated multi-agent task, the visually guided positioning of a small medical device.

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Text Reference

Michael Chen, Shinji Kume, Alfred Rizzi, and Ralph Hollis, "Visually Guided Coordination for Distributed Precision Assembly," IEEE International Conference on Robotics and Automation 2000, April, 2000, pp. 1651 - 1656.

BibTeX Reference

@inproceedings{Chen_2000_3485,
   author = "Michael Chen and Shinji Kume and Alfred Rizzi and Ralph Hollis",
   title = "Visually Guided Coordination for Distributed Precision Assembly",
   booktitle = "IEEE International Conference on Robotics and Automation 2000",
   pages = "1651 - 1656",
   month = "April",
   year = "2000",
   volume = "2",
}

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