Automation, Robotics and Computer Vision Laboratory (ARVC)
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Cooperative Robotics

The present project is devoted to the development of advanced teleoperation tools focused in three main goals: a collaborative control scheme allowing one or more users to participate in the execution of tasks; cooperative control techniques for multiple robots so that they work simultaneously and helping each other; and a general, non-structured environment where there may be several moving objects whose dynamics may affect the execution of the task. Classic teleoperation schemes give the user complete control over the actions performed by the slave device. Collaborative control considers the user as an extra source of information about the remote system, just as the sensors which give information about the environment. Cooperative control techniques allow multiple robots to work jointly so that they are capable of performing tasks out of the scope of a single robot or so that they increment efficiency, speed or reliability in the execution of tasks. Research is needed in several technological areas in order to cover the project objectives. The following developments are proposed: efficient dialog techniques between users, between robots and between both agents; cooperative control strategies, both generic and adapted to particular test-bed tasks; sensor fusion techniques in charge of the management of the data provided by the different sensors and the users; 3D scene recognition from the data acquired by each robot from a different point of view; and visual control to adapt the robot movements to the changing environment.

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