A contingent of autonomous Marching Robots: Intricacies of system design and motion control

Toh Ser Khoon; G. Sen Gupta; Chris Messom; Serge Demidenko; Robert Craig

doi:10.1109/ICECS.2003.1302060

A contingent of autonomous Marching Robots: Intricacies of system design and motion control

Toh Ser Khoon, G. Sen Gupta, Chris Messom, Serge Demidenko, Robert Craig

Electrical and Computer Systems Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

Abstract

This paper details the intricacies of system design and the challenges faced in the construction and control of a contingent of four Marching Robots. Two systems, based on different position sensing techniques and control algorithms for the synchronised movement, are presented. The first system uses infrared-red sensing (IR) to make a robot follow a white track on the marching platform beneath. The second system uses a global vision system with a camera mounted on top of the parade field with every robot wearing a "coloured hat" for identification and to facilitate calculation of its real world position and orientation. The movements are synchronized using State Transition Based Supervisory (STBS) control. The robots can move in straight lines and make sharp, accurate turns albeit using different feedback mechanisms. The robots are autonomous and remote-controlled by a PC using Radio Frequency or Infra Red wireless transmission. The control system can be adapted for industrial environment where robots need to collaborate.

Original language	English
Title of host publication	ICECS 2003 - Proceedings of the 2003 10th IEEE International Conference on Electronics, Circuits and Systems
Pages	396-399
Number of pages	4
Volume	1
DOIs	https://doi.org/10.1109/ICECS.2003.1302060
Publication status	Published - 1 Dec 2003
Event	IEEE International Conference on Electronics, Circuits and Systems 2003 - Sharjah, United Arab Emirates Duration: 14 Dec 2003 → 17 Dec 2003 Conference number: 10th https://ieeexplore.ieee.org/xpl/conhome/9125/proceeding?isnumber=28927 (Proceedings)

Conference

Conference	IEEE International Conference on Electronics, Circuits and Systems 2003
Abbreviated title	ICECS 2003
Country/Territory	United Arab Emirates
City	Sharjah
Period	14/12/03 → 17/12/03
Internet address	https://ieeexplore.ieee.org/xpl/conhome/9125/proceeding?isnumber=28927 (Proceedings)

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10.1109/ICECS.2003.1302060

Cite this

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title = "A contingent of autonomous Marching Robots: Intricacies of system design and motion control",

abstract = "This paper details the intricacies of system design and the challenges faced in the construction and control of a contingent of four Marching Robots. Two systems, based on different position sensing techniques and control algorithms for the synchronised movement, are presented. The first system uses infrared-red sensing (IR) to make a robot follow a white track on the marching platform beneath. The second system uses a global vision system with a camera mounted on top of the parade field with every robot wearing a {"}coloured hat{"} for identification and to facilitate calculation of its real world position and orientation. The movements are synchronized using State Transition Based Supervisory (STBS) control. The robots can move in straight lines and make sharp, accurate turns albeit using different feedback mechanisms. The robots are autonomous and remote-controlled by a PC using Radio Frequency or Infra Red wireless transmission. The control system can be adapted for industrial environment where robots need to collaborate.",

author = "Khoon, {Toh Ser} and Gupta, {G. Sen} and Chris Messom and Serge Demidenko and Robert Craig",

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booktitle = "ICECS 2003 - Proceedings of the 2003 10th IEEE International Conference on Electronics, Circuits and Systems",

note = "IEEE International Conference on Electronics, Circuits and Systems 2003, ICECS 2003 ; Conference date: 14-12-2003 Through 17-12-2003",

url = "https://ieeexplore.ieee.org/xpl/conhome/9125/proceeding?isnumber=28927",

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Khoon, TS, Gupta, GS, Messom, C, Demidenko, S & Craig, R 2003, A contingent of autonomous Marching Robots: Intricacies of system design and motion control. in ICECS 2003 - Proceedings of the 2003 10th IEEE International Conference on Electronics, Circuits and Systems. vol. 1, 1302060, pp. 396-399, IEEE International Conference on Electronics, Circuits and Systems 2003, Sharjah, United Arab Emirates, 14/12/03. https://doi.org/10.1109/ICECS.2003.1302060

A contingent of autonomous Marching Robots: Intricacies of system design and motion control. / Khoon, Toh Ser; Gupta, G. Sen; Messom, Chris et al.
ICECS 2003 - Proceedings of the 2003 10th IEEE International Conference on Electronics, Circuits and Systems. Vol. 1 2003. p. 396-399 1302060.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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A contingent of autonomous Marching Robots: Intricacies of system design and motion control

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