The OSU CITR indoor testbed consists of several families of ground autonomous robots, including ActivMedia Pioneer 3-ATs, iRobot Creates, and several locally constructed robots, as well as OSU-built small automated electric helicopters. An image processing based virtual GPS system, using encoded tags, provides position and orientation information for all robotic assets with an unobstructed view of the ceiling. Various wireless interfaces provide communications with bench-top computers and the virtual GPS system. The robots are equipped with a variety of sensors, including scanning laser range finders, image acquisition and processing, and ultrasonic sonar sensors. The lab floor is a removable vinyl film containing an urban road network, and can be fitted with mock buildings, obstacles, bridges, and overpasses.
- Simulate -> Lab Verification -> Road Vehicle Verification.
- Coordination, routing, control, communication, and sensing studies on small-scale road network.
- Ten iRobot Create mobile robots with onboard control, sensing, and communication hardware.
- Overhead tracking equipment to emulate GPS.
- Vehicle-to-infrastructure communication from traffic lights.
- Virtual sensor capabilities through coordinated simulation.
Approximately 700 square feet of space is currently available for robot operations, along with adjacent space for computer, bench, and repair facilities. Some indoor testbed capabilities can be coupled with larger, outdoor robotic vehicles and UAVs. Finally, the software interface for the robots is compatible with a 3-dimensional simulation environment. Sensor fusion, low-level control, world model database, and ground station modules were also developed by OSU to provide a fully functional in-house stack for the indoor testbed.