RobotMLRobotML

Modélisation de votre application et Modélisation de votre application et mise à disposition de plates formes mise à disposition de plates formes

robotiques ciblesrobotiques cibles

PPlatform for latform for RORObotic modeling and botic modeling and TTransformations for ransformations for EEnd-nd-UUsers sers

and and SScientific communitiescientific communitieshttp://www.anr-proteus.frhttp://www.anr-proteus.fr

Journées scientifiques Robotique et AutomatiqueJournées scientifiques Robotique et AutomatiqueNantesNantes

2323rdrd of October, 2012 of October, 2012

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AgendaAgenda

La VisionRobotML et sa plate-forme associéeLes OARP et le challenge

En guise de conlusion

Discussion / Comments / Questions

Intellectual Property Rights are governed by PROTEUS Contract and PROTEUS consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

23/10/12

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LA VISION

Model providers

Algorithm providers

Problem providers

Robots providers

Data providers

Model users

Algorithm users

Problem users

Robots users

Data usersRobot independent ModelRobot independent ModelPORTALPORTAL

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Robotician

HardwareSoftware

Sim

ulat

orR

obotDevelopment

Expected Behavior (?)

Mission /Scenario

Plan / Architecture

To design and develop a robotic application

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Hardware

Robotician

To design and develop a robotic application

Software

Sim

ulat

orR

obot

Development

Expected Behavior (?)

Mission /Scenario

Plan / Architecture

You must MASTER all dedicated software tools of your robot (and its connexions with hardware)

With this knowledge, you must DESIGN “qualitatively” the whole architecture/behaviours that represent your robotic application

extract the behaviour of your robot (soft+hard)corresponding to your whole architecture,to fit to the wanted application

Dependent of : the hardware, the software... and youYour “qualitative” design is dedicated to your needsNon reusable components (new appl ⇒ often from scratch)

HIGHLY COMPLEX Robotician knowhow

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Help : Robotic MiddlewaresHelp : Robotic Middlewares

Aroccam

RTMapsUrbiOrrocosRosGenomContractRobotics Studio...

Aroccam

RTMapsUrbiOrrocosRosGenomContractRobotics Studio...

OSMiddleWareLangage

May be considering the problem uphill

Intellectual Property Rights are governed by PROTEUS Contract and PROTEUS consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

PPlatform for latform for RORObotic modeling and botic modeling and TTransformations ransformations

for for EEnd-nd-UUsers and sers and SScientific communitiescientific communities

JRA'2012, JRA'2012, Oct. The 23Oct. The 23thth, 2012, 2012

http://www.anr-proteus.fr

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RobotML-platform and SDK OverviewRobotML-platform and SDK Overview

Génération de code

ScenarioAlgorithms

C, C++, Matlab

Bus RosBus Ros

PC li

nux

Robots

Web

RobotML platform/SDKRobotML platform/SDK

French Robotic PortalFrench Robotic Portal

SimulationsSolutions

Modules

Modèles SimulateursMiddlewaresRobotiques

Scenarii

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RobotML-platform and SDK OverviewRobotML-platform and SDK Overview

Génération de code

ScenarioAlgorithms

C, C++, Matlab

PC li

nux

Robots

ProductsProducts

Code Generation• Acceleo • ROS Data

• ROS Bus

Robotics Standarts

Modèles SimulateursMiddlewaresRobotiques

Ont

olog

y Simulators

• CyCab-TK• Blender-Morse

Middlewareconnectors• RT-Maps• URBI• Arroc@m• Orocos

Architecture = Formal Model

• Eclipse• EMF• Papyrus• RobotML

RobotML platform/SDKRobotML platform/SDK

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informal architectureinformal architecture formal modelformal model

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RobotML platformRobotML platform

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www . anr-proteus .frwww . anr-proteus .fr

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4 OARP + 1 Challenge :

Vipalab in Pavin

Off-Road•Air-Land

Cameleon

RYC Challenge

Urban

R-Trooper•Ressac

InterventionWifiBot

Open Access Robotic PlatformOpen Access Robotic Platform

Intellectual Property Rights are governed by PROTEUS Contract and PROTEUS consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

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Submit a proposal withYour problemYour solutionExpected resultsYour needs

Air

Urban AirOffroad Intervention

OARP : propose your experimentationOARP : propose your experimentation

→ → Simple Form by E-MailSimple Form by E-Mail

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PROTEUS OARPsPROTEUS OARPs

To gather robotic community on different scientifics issues

Checking effectivness of algorithms in simulation and real conditionComparing solutions using metricsSharing algorithms and modules

To promote the RobotML SDKUsing RobotML platform to define problems (challenge)Using RobotML platform and SDK to target applications (robot & simul.)

Why Open our robotic platform to you ?

To promote robotics (mobile robotics at first)

Making easier connections between academics and indutrialsOffering efficient and complete tools (open & prop. softwares)Teaching with a complete Robotics Toolset

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Launching PROTEUS ChallengesLaunching PROTEUS Challenges

RYC ChallengeMaster degree Engineering degree

no network-team allowed

OARPsAcademics Industrial partners

Who can participate ?

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Urban OARPUrban OARPAutonomous navigation in urban areaAutonomous navigation in urban area

Research issues:Motion Planning

Localization

Control

Obstacle detection and tracking

urba

n.an

r-pr

oteu

s.fr

Contact : urban-oarp@anr-proteus.fr

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Air OARPAir OARPUAVUAV

Research issues:Planification and supervisionPerceptionDetection and identificationNavigation

air.a

nr-p

rote

us.fr

Contact : air@anr-proteus.fr

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Off-Road OARPOff-Road OARPUnstructured environmentUnstructured environment

offr

oad.

anr-

prot

eus.

fr

Research issues:Offroad navigationHigh speed command

Search and tracking of a target

...

Contact: offroad-oarp@anr-proteus.fr

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Research issues:Automatic and teleopered

mixed controlObstacle avoidance and

stair crossing Non friendly environment

Intervention OARPIntervention OARPCritical indoor motionCritical indoor motion

inte

rven

tion.

anr-

prot

eus.

fr

Contact: indoor-oarp@anr-proteus.fr

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09/2012 04/2013

Poposal submission

Tests on the platforms

09/2013

Submission via the PROTEUS websiteValidation of the proposition by the OARP's managerSimulation testsReal experimentation with respect to the simulation results

Schedule of OARPsSchedule of OARPs

Simple Form by E-MailSimple Form by E-Mailobjectives, needs, scheduleobjectives, needs, schedule

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Mobile Robotics Issues : Autonomous Navigation, Obstacle avoidance, Mapping, Localisation, Visual recognition.

Pedagogic Issue : Use a complete Toolset to develop a robotic application

→ knowledge of various aspects of Robotics

Robotic Youth ChallengeRobotic Youth ChallengeOpen to Students (M2-M1)Open to Students (M2-M1)

ryc.

anr-

prot

eus.

fr

Academic year 2012-2013 Contest summer 2013

Contact : Contact : challenge-ryc@anr-proteus.frchallenge-ryc@anr-proteus.fr

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Schedule of PROTEUS RYC ChallengeSchedule of PROTEUS RYC Challenge

09/2012

RYCPROTEUS

Academic YearRegistration

/web

Competition

July 2013

Mail to: Mail to: challenge-ryc@anr-proteus.frchallenge-ryc@anr-proteus.fr

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Questions ? Questions ?

http://www.anr-proteus.fr