Autonomous Latching System for Robotic Boats
Name
2008.10599.pdf
Description
Accepted version
Size
12.81 MB
Format
Adobe PDF
Checksum (MD5)
ac65ae40607a8a608937eba1f7ef597a
Author(s)
Mateos, Luis A
Wang, Wei
Gheneti, Banti
Duarte, Fabio
Ratti, Carlo
Rus, Daniela
Date Issued
May 2019
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Mateos, Luis A, Wang, Wei, Gheneti, Banti, Duarte, Fabio, Ratti, Carlo et al. 2019. "Autonomous Latching System for Robotic Boats." Proceedings - IEEE International Conference on Robotics and Automation, 2019-May.
Version
Author's final manuscript
Abstract
© 2019 IEEE. Autonomous robotic boats are devised to transport people and goods similar to self-driving cars. One of the attractive features specially applied in water environment is to dynamically link and join multiple boats into one unit in order to form floating infrastructure such as bridges, markets or concert stages, as well as autonomously self-detach to perform individual tasks.In this paper we present a novel latching system that enables robotic boats to create dynamic united floating infrastructure while overcoming water disturbances. The proposed latching mechanism is based on the spherical joint (ball and socket) that allows rotation and free movements in two planes at the same time. In this configuration, the latching system is capable to securely and efficiently assemble/disassemble floating structures. The vision-based robot controller guides the self-driving robotic boats to latch with high accuracy in the millimeter range. Moreover, in case the robotic boat fails to latch due to harsh weather, the autonomous latching system is capable to recompute and reposition to latch successfully. We present experimental results from latching and docking in indoor environments. Also, we present results in outdoor environments from latching a couple of robotic boats in open water with calm and turbulent currents.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra.2019.8793525
