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Pin-Wei Chen

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Team NCTU: Toward AI-Driving for Autonomous Surface Vehicles -- From Duckietown to RobotX

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Oct 31, 2019
Yi-Wei Huang, Tzu-Kuan Chuang, Ni-Ching Lin, Yu-Chieh Hsiao, Pin-Wei Chen, Ching-Tang Hung, Shih-Hsing Liu, Hsiao-Sheng Chen, Ya-Hsiu Hsieh, Yen-Hsiang Huang, Yu-Xuan Chen, Kuan-Lin Chen, Ya-Jou Lan, Chao-Chun Hsu, Chun-Yi Lin, Jhih-Ying Li, Jui-Te Huang, Yu-Jen Menn, Sin-Kiat Lim, Kim-Boon Lua, Chia-Hung Dylan Tsai, Chi-Fang Chen, Hsueh-Cheng Wang

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Robotic software and hardware systems of autonomous surface vehicles have been developed in transportation, military, and ocean researches for decades. Previous efforts in RobotX Challenges 2014 and 2016 facilitates the developments for important tasks such as obstacle avoidance and docking. Team NCTU is motivated by the AI Driving Olympics (AI-DO) developed by the Duckietown community, and adopts the principles to RobotX challenge. With the containerization (Docker) and uniformed AI agent (with observations and actions), we could better 1) integrate solutions developed in different middlewares (ROS and MOOS), 2) develop essential functionalities of from simulation (Gazebo) to real robots (either miniaturized or full-sized WAM-V), and 3) compare different approaches either from classic model-based or learning-based. Finally, we setup an outdoor on-surface platform with localization services for evaluation. Some of the preliminary results will be presented for the Team NCTU participations of the RobotX competition in Hawaii in 2018.

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Duckiefloat: a Collision-Tolerant Resource-Constrained Blimp for Long-Term Autonomy in Subterranean Environments

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Oct 31, 2019
Yi-Wei Huang, Chen-Lung Lu, Kuan-Lin Chen, Po-Sheng Ser, Jui-Te Huang, Yu-Chia Shen, Pin-Wei Chen, Po-Kai Chang, Sheng-Cheng Lee, Hsueh-Cheng Wang

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There are several challenges for search and rescue robots: mobility, perception, autonomy, and communication. Inspired by the DARPA Subterranean (SubT) Challenge, we propose an autonomous blimp robot, which has the advantages of low power consumption and collision-tolerance compared to other aerial vehicles like drones. This is important for search and rescue tasks that usually last for one or more hours. However, the underground constrained passages limit the size of blimp envelope and its payload, making the proposed system resource-constrained. Therefore, a careful design consideration is needed to build a blimp system with on-board artifact search and SLAM. In order to reach long-term operation, a failure-aware algorithm with minimal communication to human supervisor to have situational awareness and send control signals to the blimp when needed.

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