Autonomous Cooperative Control of Emergent Systems of Systems (ACCESS) Laboratory

Advance Robotic Testbed

ACCESS lab hosts a multi-agent cooperative testbed which is dedicated to conduct a cross-disciplinary research on control and coordination of large-scale systems of autonomous systems. The testbed consists of several autonomous Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) which are of different capabilities. Also, there is an accurate infrared based VICON motion capturing system for localization. With this testbed, ACCESS lab is aiming at developing tools, techniques and design methods that are required for modeling, control, testing and evaluation of large-scale systems of systems and multi-robot systems.

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Edquad Quadcopter UAVs
There are three Edquads in the ACCESS which are very robust quadcopter platforms. Edquads are equipped with an AutoQuad flight controller, different sensors and measurement devices including Gyro, GPS receiver, Magnetometer, Accelerometer, Pressure sensor, and Battery monitor. We use CrossWorks IDE to compile its control algorithm in C/C. The structure of the control code is implemented using an Adaptive Task Scheduling Algorithm and supports preemptive priority and round-robin to manage different tasks and events.

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Turtlebot Ground Robots
There are 6 Turtlebot robots which are equipped with a Kinect Sensor. The robots run ROS (Robot Operating System), and are supported by various ROS libraries (stacks).

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AR.Drone UAVS
There are 10 AR.Drones in the ACCESS lab that are used for the preliminary implementation of the developed algorithms. AR.Drones are easy to work, radio controlled flying quadcopter helicopters that can be controlled through laptops via WiFi.

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Ground Station
To monitor the performance of robots in the aforementioned multi-robot testbed, a custom version of QGroundControl based on the MAVLink 1.0 protocol is utilized which can be easily extended to a multi-agent system. This software can show the position, orientation, and velocity of each agent in the global frame, which helps to verify the developed algorithms for multi-agent systems.