Undergraduate Capstone Projects on
Multi-Robot Systems
Authored by: Dr. Christopher Kitts
Associate Professor
Director, Robotic Systems Laboratory
Director, Silicon Valley Center for Robotic Exploration & Space Technologies
Presented by: Mr. Mike Rasay
Doctoral Candidate, Robotic Systems Laboratory
Outline
 Introduction
 Undergraduate Projects
– Formation Flying Aircraft
– Cooperative Rover Navigation
– Cooperative Object Transport
 Academic Framework
 Summary & Conclusions
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Robotic Systems Laboratory
 Lab: 1 faculty, 3 staff, ~10 grad students, ~35 undergrad students
External funding: ~$750,000/yr from gov, industry, academia
Space: ~2,000 ft2 on campus,~7,500 ft2 facility at NASA Ames
 Expertise: system design, controls, teleoperation, automation, etc.
 Current Field Robotics
--------------------------Land – Sea – Air – Space-------------------------------
----------- Sponsors & Partners-----------Gov: NSF, NASA, USAF, NOAA,USGS…
Ind: Lockheed, CSA, Mitsubishi, BMW…
Univ: Stanford, Wash U, UT Austin…
Non-Profit: CSGC, MBARI, IEEE, MTS…
--Field Operation for Real-World Missions-- --------------- Real Mission Data Products--------------- - ApplicationsGeology
Biology
Land Mngmnt
Remote Sensing
Archeology
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Multi-Robot Systems - Introduction
 Selected RSL multi-robot projects
Land: Rovers for Transport
Sea: ROVs for Filming
Air: Planes for Imaging
Space: Satellite Formation Test
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Project 1 – Formation Flying Aircraft
 3-student 2005 project
 Added sensors, pan/tilt
camera, digital and video
comms, microcontrollers,
and commercial autopilot
to RC aircraft
 Developed “follow-the-
leader” formation flying,
auto take-off and landing
 Approved for UAV flight in
FAA Class D airspace
 3rd in AUVSI International
Graduate UAV Contest
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Project 2 – Coordinated Rover Navigation
 5-student 2005 project
 Added sensors, digital comm,
& microcontrollers to
commercial chasses
 Integrated Matlab controllers
and demonstrated “cluster
control” navigation
 3 of these students used
system for grad thesis work; 1
PhD and 3 Masters theses in
progress using this system
 Basis of new NSF project in
multi-robot navigation
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Project 3 – Coordinated Object Transportation
 4 student 2004 project and 5
student 2005 project
 Team1: Developed 2 velocity-
controlled omnidriven chasses
 Team 2: Developed gripper
stages and controller for
object transport with no
transmission of forces/torques
 Overhead vision system has
been added for tracking
 System has supported 4
Masters theses and a PhD
project is about to begin
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Student Learning
 Learning outcomes
– Interdisciplinary design: teams include mech, elec, comp engineers
– Full-lifecycle exposure: students involved from design through field operation
– Tools: students learn modern design and analysis tools to support projects
– Techniques: students practice project man., systems eng., concurrent design
 Themes for success:
– Real-world missions
– New technology development with potential for research
– Pro-active oversight and mentoring
 Challenges:
– Faculty attention on undergrad projects (detracting from other duties)
– Resources for supporting such a program
– How do we integrate our program to address these challenges?
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Academic Framework – Field Robotics
Education / Science / Technology Customers
Technology
Objectives
Mission
Objectives
Technology
Development
Mission
Development
Robotic
Systems
Field
Operation
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Academic Framework – Field Robotics
Education / Science / Technology Customers
Technology
Objectives
Research Opportunities
and Impact – Research is
Well-Grounded and
Attracts Grad Students
Technology
Development
Mission
Objectives
Mission
Development
Design Education
Opportunities and
Impact – Education is
Comprehensive, TeamBased, and Hands-on
Robotic
Systems
Field
Operation
Mission Science &
Services Impact
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Academic Framework – Field Robotics
Education / Science / Technology Customers
Technology
Objectives
Research Opportunities
and Impact – Research is
Well-Grounded and
Attracts Grad Students
Technology
Development
Mission
Objectives
Mission
Development
Design Education
Opportunities and
Impact – Education is
Comprehensive, TeamBased, and Hands-on
Robotic
Systems
- Integrative research & education
- Undergraduate research
- Stimulation of grad school interest
- Industry/gov/academic collaborations
Field
Operation
Mission Science &
Services Impact
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Academic Framework – Field Robotics
Education / Science / Technology Customers
Funding
Opportunities
Technology
Objectives
Research Opportunities
and Impact – Research is
Well-Grounded and
Attracts Grad Students
Technology
Development
Mission
Objectives
Mission
Development
Robotic
Systems
- Integrative research & education
- Undergraduate research
- Stimulation of grad school interest
- Industry/gov/academic collaborations
Field
Operation
Design Education
Opportunities and
Impact – Education is
Comprehensive, TeamBased, and Hands-on
Infrastructure for
Courses & Future
Missions
Mission Science &
Services Impact
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University
Summary & Conclusions
 SCU field robotics program
– Robotic systems built for land, sea, air, and space missions
– Cradle to grave design and operation of systems
– Numerous collaborators/sponsors from industry, academia, government
 Undergraduate Capstone Projects in Multi-Robot Systems
– Formation aircraft, cooperative rover navigation, cooperative object transport
– Each a remarkable achievement for an undergraduate team
 Academic Framework
– Exciting opportunities enabling undergraduate educational excellence
– To attract and justify investment in these projects, they are leveraged such
that:the resulting robotic systems are used:
 As research testbeds for graduate research
 As primary field systems for real-world science and technology missions
Undergraduate Capstone Projects on Multi-Robot Systems: C. Kitts, Santa Clara University