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Proceedings Paper

Polymorphic robotic system controlled by an observing camera
Author(s): Bilge Koçer; Tugçe Yüksel; M. Ersin Yümer; C. Alper Özen; Ulas Yaman
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Paper Abstract

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.

Paper Details

Date Published: 26 February 2010
PDF: 7 pages
Proc. SPIE 7546, Second International Conference on Digital Image Processing, 754607 (26 February 2010); doi: 10.1117/12.855093
Show Author Affiliations
Bilge Koçer, TÜBITAK-SAGE (Turkey)
Tugçe Yüksel, Middle East Technical Univ. (Turkey)
M. Ersin Yümer, TÜBITAK-SAGE (Turkey)
C. Alper Özen, Lehigh Univ. (United States)
Ulas Yaman, Middle East Technical Univ. (Turkey)


Published in SPIE Proceedings Vol. 7546:
Second International Conference on Digital Image Processing
Kamaruzaman Jusoff; Yi Xie, Editor(s)

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