Rock Moving Robots

Timing Analysis of Software Dynamic Properties

Hardi + Gulcin + Keijo + Madis

General Description

2 autonomous robots + 1 quadcopter (master)

Moving towards the rock

Moving the rock

Quadcopter Processes

Robot Processes

Robots

  • GPS

  • Lidar

  • Weight sensor

  • Quadrature encoders

Quadcopter

  • GPS

  • Camera

  • Lidar

  • Flight control sensors:

    • Barometer for altitude control

    • Magnetic field sensor for direction control

    • 3-axis accelerometer for velocity control

Sensors

  • Motors for moving tracks

  • Motors for moving the top part of the robot

  • Hydraulics for forks

  • Quadcopter motors

Actuators

Timing Diagram of Q-model

Thank you!