Autonomous Latching System for Robotic Boats
© 2019 IEEE. Autonomous robotic boats are devised to transport people and goods similar to self-driving cars. One of the attractive features specially applied in water environment is to dynamically link and join multiple boats into one unit in order to form floating infrastructure such as bridges, m...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2021
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| Online Access: | https://hdl.handle.net/1721.1/137595 |
| _version_ | 1826193272414928896 |
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| author | Mateos, Luis A Wang, Wei Gheneti, Banti Duarte, Fabio Ratti, Carlo Rus, Daniela |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Mateos, Luis A Wang, Wei Gheneti, Banti Duarte, Fabio Ratti, Carlo Rus, Daniela |
| author_sort | Mateos, Luis A |
| collection | MIT |
| description | © 2019 IEEE. Autonomous robotic boats are devised to transport people and goods similar to self-driving cars. One of the attractive features specially applied in water environment is to dynamically link and join multiple boats into one unit in order to form floating infrastructure such as bridges, markets or concert stages, as well as autonomously self-detach to perform individual tasks.In this paper we present a novel latching system that enables robotic boats to create dynamic united floating infrastructure while overcoming water disturbances. The proposed latching mechanism is based on the spherical joint (ball and socket) that allows rotation and free movements in two planes at the same time. In this configuration, the latching system is capable to securely and efficiently assemble/disassemble floating structures. The vision-based robot controller guides the self-driving robotic boats to latch with high accuracy in the millimeter range. Moreover, in case the robotic boat fails to latch due to harsh weather, the autonomous latching system is capable to recompute and reposition to latch successfully. We present experimental results from latching and docking in indoor environments. Also, we present results in outdoor environments from latching a couple of robotic boats in open water with calm and turbulent currents. |
| first_indexed | 2024-09-23T09:36:43Z |
| format | Article |
| id | mit-1721.1/137595 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T09:36:43Z |
| publishDate | 2021 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1375952022-09-30T15:39:41Z Autonomous Latching System for Robotic Boats Mateos, Luis A Wang, Wei Gheneti, Banti Duarte, Fabio Ratti, Carlo Rus, Daniela Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory © 2019 IEEE. Autonomous robotic boats are devised to transport people and goods similar to self-driving cars. One of the attractive features specially applied in water environment is to dynamically link and join multiple boats into one unit in order to form floating infrastructure such as bridges, markets or concert stages, as well as autonomously self-detach to perform individual tasks.In this paper we present a novel latching system that enables robotic boats to create dynamic united floating infrastructure while overcoming water disturbances. The proposed latching mechanism is based on the spherical joint (ball and socket) that allows rotation and free movements in two planes at the same time. In this configuration, the latching system is capable to securely and efficiently assemble/disassemble floating structures. The vision-based robot controller guides the self-driving robotic boats to latch with high accuracy in the millimeter range. Moreover, in case the robotic boat fails to latch due to harsh weather, the autonomous latching system is capable to recompute and reposition to latch successfully. We present experimental results from latching and docking in indoor environments. Also, we present results in outdoor environments from latching a couple of robotic boats in open water with calm and turbulent currents. 2021-11-05T19:20:58Z 2021-11-05T19:20:58Z 2019-05 2021-01-28T16:20:08Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/137595 Mateos, Luis A, Wang, Wei, Gheneti, Banti, Duarte, Fabio, Ratti, Carlo et al. 2019. "Autonomous Latching System for Robotic Boats." Proceedings - IEEE International Conference on Robotics and Automation, 2019-May. en 10.1109/icra.2019.8793525 Proceedings - IEEE International Conference on Robotics and Automation Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Mateos, Luis A Wang, Wei Gheneti, Banti Duarte, Fabio Ratti, Carlo Rus, Daniela Autonomous Latching System for Robotic Boats |
| title | Autonomous Latching System for Robotic Boats |
| title_full | Autonomous Latching System for Robotic Boats |
| title_fullStr | Autonomous Latching System for Robotic Boats |
| title_full_unstemmed | Autonomous Latching System for Robotic Boats |
| title_short | Autonomous Latching System for Robotic Boats |
| title_sort | autonomous latching system for robotic boats |
| url | https://hdl.handle.net/1721.1/137595 |
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