The ACE project is concerned with autonomous mobile assembly. A mobile manipulator is assigned to acquire a piece and insert it in a predefined spot. The piece and target slot are not accurately localized ahead of time, so online visual tracking and servoing are necessary. The mobile manipulation control must be accurate and precise enough to insert a piece when the slot has less than 2 mm room for error. The system is entirely autonomous, which requires robust error recovery.
Principal Investigators: Reid Simmons and Sanjiv Singh