ARENA - Plataforma para Experimentação de Sistemas Multi-Robôs em Ambientes Industriais
Resumo
Este trabalho apresenta a ARENA - uma plataforma para experimentação de comportamentos avançados em armazéns inteligentes. O método proposto consiste na reprodução de um armazém em escala reduzida gerenciado por um grupo de empilhadeiras autônomas, representadas por um enxame de micro robôs compatível com a arquitetura ROS (Robot Operating System). A realidade aumentada (RA) é empregada para aprimorar os recursos da plataforma, permitindo que ela apresente características inviabilizadas pelo tamanho reduzido de seus elementos ou devido ao custo, como a movimentação de mercadorias e a implementação de determinados sensores.
Palavras-chave:
Processamento sensorial e controle ativos, Aplicações Industriais de robôs Autônomos, Programação de Robôs, Cooperação e colaboração de multiplos robos e multiplos agentes, Ferramentas de simulação e visualização de robôs, Planejamento, comunicação, adaptação e aprendizado de Robôs, Redes de sensores, arquiteuras de hardawre e software embarcado
Referências
Antoun, Valentini, Hocquard, Wiandt, Trianni, and Dorigo (2016). Kilogrid: A modular virtualization environment for the kilobot robot. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3809–3814, ieee edition.
Echeverria, G., Lemaignan, S., Degroote, A., Lacroix, S., Karg, M., Koch, P., Lesire, C., and Stinckwich, S. (2012). Simulating complex robotic scenarios with morse. In SIMPAR, pages 197–208.
Kagermann, H., Wahlster, W., and Helbig, J. (2013). Securing the future of german manufacturing industry. Recommendations for implementing the strategic initiative INDUSTRIE.
Kalempa, V. C., Piardi, L., Limeira, M., and De Oliveira, A. S. (2020). Faultresilient collective ternary-hierarchical behavior to smart factories. IEEE Access, 8:176905–176915.
Koenig, N. and Howard, A. (2004). Design and use paradigms for gazebo, an open-source multi-robot simulator. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(IEEE Cat. No. 04CH37566), volume 3, pages 2149–2154. IEEE.
Lee, C. (2018). Development of an industrial internet of things (iiot) based smart robotic warehouse management system. In CONF-IRM 2018 Proceedings. 43.
Li, J.-t. and Liu, H.-j. (2016). Design optimization of amazon robotics. Automation, Control and Intelligent Systems, 4(2):48–52.
Limeira, M., Piardi, L., Cremer Kalempa, V., Schneider, A., and Leitão, P. (2020). Augmented Reality System for Multi-robot Experimentation in Warehouse Logistics, pages 319–330.
Limeira, M., Piardi, L., Kalempa, V. C., Leitão, P., and De Oliveira, A. S. (2021). Depthlidar: Active segmentation of environment depth map into mobile sensors. IEEE Sensors Journal, pages 1–1.
Limeira, M. A., Piardi, L., Kalempa, V. C., de Oliveira, A. S., and Leitão, P. (2019). Wsbot: A tiny, low-cost swarm robot for experimentation on industry 4.0. In 2019 Latin American Robotics Symposium (LARS), 2019 Brazilian Symposium on Robotics (SBR) and 2019Workshop on Robotics in Education (WRE), pages 293–298.
Mason, R. (2019). Developing a Profitable Online Grocery Logistics Business: Exploring Innovations in Ordering, Fulfilment, and Distribution at Ocado, pages 365–383.
Michel, O. (1998). Webots: Symbiosis between virtual and real mobile robots. In International Conference on Virtual Worlds, pages 254–263. Springer.
Piardi, L., Kalempa, V. C., Limeira, M., de Oliveira, A. S., and Leitão, P. (2019). Arena—augmented reality to enhanced experimentation in smart warehouses. Sensors, 19(19).
Pickem, D., Glotfelter, Wang, and Mote, M.; Ames, A. F. E. . E. M. (2017). The robotarium: A remotely accessible swarm robotics research testbed. IEEE International Conference on Robotics and Automation, 16.
Reina, Cope, Nikolaidis, Marshall, and Sabo (2017.). Ark: Augmented reality for kilobots. IEEE Robotics and Automation letters, vol. 2, no. 3, pp. 1755–1761 edition.
Reina, A., Salvaro, M., Francesca, G., Garattoni, L., Pinciroli, C., Dorigo, M., and IRIDIA, M. B. (2015). Augmented reality for robots: virtual sensing technology applied to a swarm of e-pucks. NASA/ESA Conference on Adaptive Hardware and Systems (AHS), Montreal, QC, Canada, 15417936 edition.
Rohmer, E., Singh, S. P., and Freese, M. (2013). V-REP: A versatile and scalable robot simulation framework. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1321–1326. IEEE.
ROS. ar_track_alvar ros wiki. http://wiki.ros.org/ar_track_alvar, 2019. Last accessed 9 May 2019.
ROS. rviz ros wiki. http://wiki.ros.org/rviz, 2019. Last accessed 9 May 2019.
Zhang, X., Fronz, S., and Navab, N. (2002). Visual marker detection and decoding in ar systems: A comparative study. In Proceedings of the 1st International Symposium on Mixed and Augmented Reality, ISMAR ’02, pages 97–, Washington, DC, USA. IEEE Computer Society.
Echeverria, G., Lemaignan, S., Degroote, A., Lacroix, S., Karg, M., Koch, P., Lesire, C., and Stinckwich, S. (2012). Simulating complex robotic scenarios with morse. In SIMPAR, pages 197–208.
Kagermann, H., Wahlster, W., and Helbig, J. (2013). Securing the future of german manufacturing industry. Recommendations for implementing the strategic initiative INDUSTRIE.
Kalempa, V. C., Piardi, L., Limeira, M., and De Oliveira, A. S. (2020). Faultresilient collective ternary-hierarchical behavior to smart factories. IEEE Access, 8:176905–176915.
Koenig, N. and Howard, A. (2004). Design and use paradigms for gazebo, an open-source multi-robot simulator. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(IEEE Cat. No. 04CH37566), volume 3, pages 2149–2154. IEEE.
Lee, C. (2018). Development of an industrial internet of things (iiot) based smart robotic warehouse management system. In CONF-IRM 2018 Proceedings. 43.
Li, J.-t. and Liu, H.-j. (2016). Design optimization of amazon robotics. Automation, Control and Intelligent Systems, 4(2):48–52.
Limeira, M., Piardi, L., Cremer Kalempa, V., Schneider, A., and Leitão, P. (2020). Augmented Reality System for Multi-robot Experimentation in Warehouse Logistics, pages 319–330.
Limeira, M., Piardi, L., Kalempa, V. C., Leitão, P., and De Oliveira, A. S. (2021). Depthlidar: Active segmentation of environment depth map into mobile sensors. IEEE Sensors Journal, pages 1–1.
Limeira, M. A., Piardi, L., Kalempa, V. C., de Oliveira, A. S., and Leitão, P. (2019). Wsbot: A tiny, low-cost swarm robot for experimentation on industry 4.0. In 2019 Latin American Robotics Symposium (LARS), 2019 Brazilian Symposium on Robotics (SBR) and 2019Workshop on Robotics in Education (WRE), pages 293–298.
Mason, R. (2019). Developing a Profitable Online Grocery Logistics Business: Exploring Innovations in Ordering, Fulfilment, and Distribution at Ocado, pages 365–383.
Michel, O. (1998). Webots: Symbiosis between virtual and real mobile robots. In International Conference on Virtual Worlds, pages 254–263. Springer.
Piardi, L., Kalempa, V. C., Limeira, M., de Oliveira, A. S., and Leitão, P. (2019). Arena—augmented reality to enhanced experimentation in smart warehouses. Sensors, 19(19).
Pickem, D., Glotfelter, Wang, and Mote, M.; Ames, A. F. E. . E. M. (2017). The robotarium: A remotely accessible swarm robotics research testbed. IEEE International Conference on Robotics and Automation, 16.
Reina, Cope, Nikolaidis, Marshall, and Sabo (2017.). Ark: Augmented reality for kilobots. IEEE Robotics and Automation letters, vol. 2, no. 3, pp. 1755–1761 edition.
Reina, A., Salvaro, M., Francesca, G., Garattoni, L., Pinciroli, C., Dorigo, M., and IRIDIA, M. B. (2015). Augmented reality for robots: virtual sensing technology applied to a swarm of e-pucks. NASA/ESA Conference on Adaptive Hardware and Systems (AHS), Montreal, QC, Canada, 15417936 edition.
Rohmer, E., Singh, S. P., and Freese, M. (2013). V-REP: A versatile and scalable robot simulation framework. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1321–1326. IEEE.
ROS. ar_track_alvar ros wiki. http://wiki.ros.org/ar_track_alvar, 2019. Last accessed 9 May 2019.
ROS. rviz ros wiki. http://wiki.ros.org/rviz, 2019. Last accessed 9 May 2019.
Zhang, X., Fronz, S., and Navab, N. (2002). Visual marker detection and decoding in ar systems: A comparative study. In Proceedings of the 1st International Symposium on Mixed and Augmented Reality, ISMAR ’02, pages 97–, Washington, DC, USA. IEEE Computer Society.
Publicado
14/10/2021
Como Citar
LIMEIRA, Marcelo; OLIVEIRA, André Schneider de.
ARENA - Plataforma para Experimentação de Sistemas Multi-Robôs em Ambientes Industriais. In: CONCURSO DE TESES E DISSERTAÇÕES EM ROBÓTICA - CTDR (MESTRADO) - SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO-AMERICANO DE ROBÓTICA (SBR/LARS), 9. , 2021, Online.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2021
.
p. 58-69.
DOI: https://doi.org/10.5753/wtdr_ctdr.2021.18685.
