Building a distributed robot garden
Name
Correll-2009-Building a distributed robot garden.pdf
Size
428.71 KB
Format
Adobe PDF
Checksum (MD5)
e7304120e57430394b8afcaa5c8a00e6
Author(s)
Correll, Nikolaus
Arechiga, Nikos
Bolger, Adrienne M.
Bollini, Mario A.
Charrow, Ben
Clayton, Adam
Dominguez, Felipe A.
Donahue, Kenneth M.
Dyar, Samuel S.
Johnson, Luke B.
Date Issued
December 2009
Journal
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Publisher
Institute of Electrical and Electronics Engineers
Citation
Correll, N. et al. “Building a distributed robot garden.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 1509-1516. © Copyright 2009 IEEE
Version
Final published version
Abstract
This paper describes the architecture and implementation of a distributed autonomous gardening system. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. Task allocation, sensing and manipulation are distributed in the system and de-centrally coordinated. We describe the architecture of this system and present experimental results for navigation, object recognition and manipulation.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2009.5354261
