Polymorphic robotic system controlled by an observing camera

Bilge Koçer; Tugçe Yüksel; M. Ersin Yümer; C. Alper Özen; Ulas Yaman

doi:10.1117/12.855093

26 February 2010 Polymorphic robotic system controlled by an observing camera

Bilge Koçer, Tugçe Yüksel, M. Ersin Yümer, C. Alper Özen, Ulas Yaman

Proceedings Volume 7546, Second International Conference on Digital Image Processing; 754607 (2010) https://doi.org/10.1117/12.855093
Event: Second International Conference on Digital Image Processing, 2010, Singapore, Singapore

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.

Citation Download Citation

Bilge Koçer, Tugçe Yüksel, M. Ersin Yümer, C. Alper Özen, and Ulas Yaman "Polymorphic robotic system controlled by an observing camera", Proc. SPIE 7546, Second International Conference on Digital Image Processing, 754607 (26 February 2010); https://doi.org/10.1117/12.855093

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
7 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Robotic systems

Cameras

Image processing

Robots

Control systems

Digital filtering

Imaging systems

Show All Keywords

Keywords/Phrases

Search In:

Publication Years