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Polymorphic robotic system controlled by an observing camera
Date
2010-02-28
Author
KOCER, Bilge
YUKSEL, Tugce
YUMER, M. Ersin
Ozen, C. Alper
Yaman, Ulaş
Metadata
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This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
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Polymorphic robotic systems, which are composed of many modular robots that act in coordination to achieve a goal defined on the system level, have been drawing attention of industrial and research communities since they bring additional flexibility in many applications. This paper introduces a new polymorphic robotic system, in which the detection and control of the modules are attained by a stationary observing camera. The modules do not have any sensory equipment for positioning or detecting each other. They are self-powered, geared with means of wireless communication and locking mechanisms, and are marked to enable the image processing algorithm detect the position and orientation of each of them in a two dimensional space. Since the system does not depend on the modules for positioning and commanding others, in a circumstance where one or more of the modules malfunction, the system will be able to continue operating with the rest of the modules. Moreover, to enhance the compatibility and robustness of the system under different illumination conditions, stationary reference markers are employed together with global positioning markers, and an adaptive filtering parameter decision methodology is enclosed. To the best of authors' knowledge, this is the first study to introduce a remote camera observer to control modules of a polymorphic robotic system.
Subject Keywords
Polymorphic robotic system
,
Adaptive image filtering
,
Digital image processing
,
Robotics
,
Camera control
URI
https://hdl.handle.net/11511/47726
DOI
https://doi.org/10.1117/12.855093
Collections
Department of Mechanical Engineering, Conference / Seminar