AMR Lab
© 2019 Nicola Bezzo

The LAB

The Lab is a state-of-the-art facility for mobile robotic systems development, prototyping, and control. The lab has been recently renovated and includes support for diverse system development activities with electronics workbenches, flexible space for assembling and experimenting with large demo systems, and secure storage in addition to the computing resources.

This space covers an area of more than 900 ft2 with high ceilings and includes: 

  • Latest generation Vicon Motion Capture System 

  • 2 Ascending Technologies Pelican quadrotors 

  • 1 Ascending Technologies Firefly hexarotor 

  • 5 Ascending Technologies Hummingbird quadrotors 

  • 1 Sanpdragon quadrotor

  • Several Crazyflie 2.0 nano quadrotors 

  • 2 Parrot Bebop quadrotors 

  • 2 Clearpath Jackal unmanned ground vehicles (UGVs) 

  • 11 Turtlebot UGVs

  • 1 Black-i LandShark military grade 6 wheels UGV

  • 1 Stratasys uPrint SE Plus 3D printer 

  • 14 Cisco Systems, standard and high definition dome surveillance cameras 

  • 4 HD projectors 

  • Several sensors (lidars, IMUs, GPS, cameras, environmental sensors)

  • several high-performance workstations and laptops

Equipment

Vicon Motion Capture System

8 Vantage cameras (@350 fps) with Lock system and Vicon Tracker software. This system allow sub-millimeter precision localization and tracking of multiple objects moving within the volume of the Lab space

 

The Vicon MOCAP allows fast and precise tracking and pose estimation of each robot inside the Lab

Asctect Pelican

2 Ascending Technologies Pelican quadrotors with carbon fiber body and equipped with 3rd generation Intel Core i7 CPU, IMU, pressure sensor, GPS, Lidar, stereo cameras, 2.4 GHz XBee link and WiFi - max airspeed 16 m/s, max climb rate 8 m/s, max thrust 36N, max payload 650g. 

The Pelican is a state of the art quadrotor equipped with i7 CPU and several sensors which includes: GPS, IMU, pressure sensor, stereo cameras, and Lidar. Currently there are 2 configurations in the Lab

This platform is used for motion planning and attack resilient control against sensors and actuators spoofing.

Asctect Hummingbird

5 Ascending Technologies Hummingbird quadrotors with carbon fiber body and equipped with IMU, pressure sensor, GPS, and 2.4 GHz XBee link - max airspeed 15 m/s, max climb rate 5 m/s, max thrust 20N, max payload 200g. 

The Hummingbird is a state of the art quadrotor equipped with GPS, IMU, and pressure sensor. Currently there are 3 configurations in the Lab

This platform is used for motion planning and multi vehicle operations.

Asctect Firefly

1 Ascending Technologies Firefly hexarotor with carbon fiber body and equipped with 3rd gen- eration Intel Core i7 CPU, IMU, pressure sensor, GPS, Lidar, stereo cameras, 2.34GHz XBee link and WiFi (max airspeed 15 m/s, max climb rate 8 m/s, max thrust 36N, max payload 600g.) 

The Firefly is a state of the art hexarotor equipped with i7 CPU and several sensors which includes: GPS, IMU, pressure sensor, stereo cameras, and Lidar.

This platform is used for motion planning and attack resilient control against sensors and actuators spoofing.

Clearpath Robotics Jackal

4 Clearpath Jackal unmanned ground vehicles, equipped with 3rd generation Intel Core i7 CPU, IMU, NovAtel SMART GPS, Velodyne 3D Lidar, Point Grey Flea3 camera, and WiFi - max speed 2 m/s, max payload 20 kg. 

The Jackal is a state of the art unmanned ground vehicle (UGV) equipped with i7 CPU and several sensors: GPS, wheel encoders, IMUs, cameras, and velodyne lidars.

This platform is used for mapping, exploration, attack resilient control against sensors and actuators spoofing, and heterogeneous robotic operations.

Black-I Landshark

1 Black-i LandShark military grade 6 wheels UGV equipped with Intel Core i7 CPU, automated turret, Moog Quickset GeminEye, 100x zoom camera, thermal imager, 2 fisheye cameras, 1 camera, 2 Microstrain IMUs, 12 sonar rangers, 12 IR rangers, 2 Hokuyo UTM-30LX Lidars, GPS, and OCU (max speed 10 mph, max payload of 200 lbs) 

The LandShark UGV is a skid- steering heavy duty 700lb unmanned ground vehicle. This particular version is equipped with any kind of sensors you can imagine. The sensors suite includes: a GPS, wheel encoders, two IMUs, two laser range finders, two radar,four infrared sensors, current sensors, a motorized turret with thermal imager and four hi-res cameras. The LandShark uses a quad core i7 CPU with ROS.

This platform is part of the DARPA Hacms project. It is used to test attack resilient controllers against sensors and actuators spoofing. 

Turtlebot 2

12 Turtlebot UGVs equipped with Intel i7 CPU, Asus Xtion PRO RGB-D camera, IMU, wheel encoders, and cliff sensors.

The turtlebot is a popular platform for education and training activities. It is primarily used in the Autonomous Mobile Robotics class taught by Prof. Bezzo and for research on multi-vehicles and transportation planning.

Snapdragon

The Qualcomm Snapdragon features advanced processing power, real-time flight control, built-in 2x2 Wi-Fi and Bluetooth connectivity, and Qualcomm SirfStar V global navigation satellite system (GNSS) optimized to support highly accurate location positioning. It includes a 4K high resolution camera ,​IMU, barometer stereo (depth-sensing) cameras, and a downward-facing “optic flow” camera.

Parrot BeBop 2

2 Parrot Bebop quadrotors equipped with IMU, two cameras, GPS, and sonar. 

Crazyflie 2

Several Crazyflies 2 nano quadrotors equipped with IMU, pressure sensor, bluetooth, and Qi inductive charger. 

High-performance Workstation + HTC Vive VR

Gaming Desktop Computer with:

- MSI X299 Raider
- Intel Core i9-7980XE Desktop CPU

- 16GB DDR4 2400MHz Desktop RAM

- 512GB M.2 2280 PCIe NVMe

- 4TB 7200rpm HDD 3.5"

- GeForce GTX 1080 TI ARMOR 11G OC (GTX 1080 TI ARMOR 11G OC)
- Rosewill Glacier 850W Bronze Modular PSU OS-17

- Windows 10 Home Injection

- Winstars AC1300 Wireless Dual-Band USB Adapter
- CUK Polar King Series 240mm Liquid CPU Cooler RED

 

- HTC VIVE Virtual Reality Set

- LEAP motion sensor

Black-I Landshark

Clearpath RidgeBack

1 Clearpath Ridgeback unmanned ground vehicles, equipped with Intel Core i7 CPU, IMU, Sick Lidars, Pan-Tilt camera, and WiFi - max speed 1 m/s, max payload 100 kg. 

The Ridgeback is a state of the art heavy-duty unmanned ground vehicle (UGV) similar to the ones found in factories and warehouses.

This platform is used for human-robot interaction, environmental monitoring and sensing, and heterogeneous robotic operations.