Mobile Robots

At ACENTAURI-INRIA, we have many robots for different research projects used by Researchers, Engineers, Ph.D. students, and Postdocs.

For AgrifoodTEF, at the moment we have one dedicated Autonomous Ground Robot (AGR) i.e. Robotnik's Summit-HM.

Robotnik’s Summit-HM

The Summit-HM is a customised version of the commercial Summit-XL which is a versatile, high-performance mobile robot platform designed for a wide range of indoor and outdoor applications. Featuring robust all-terrain capabilities, it is equipped with powerful motors, large wheels, and advanced suspension systems, allowing it to navigate challenging environments with ease. Its modular design facilitates easy customization with various sensors, cameras, and robotic arms (if needed), ensuring it can be tailored to meet specific project needs. With cutting-edge navigation and control systems, including GPS (RTK), Camera, and LIDAR integration, the Summit-HM (XL) delivers exceptional autonomy and precision, making it a reliable solution for research, inspection, and industrial automation tasks. At INRIA, the customised version of this mobile robot is built for agriculture tasks, such as Data Acquisition with different sensors, and testing, validation and benchmarking of mobility algorithms. This AGR also carries a Jetson NVIDIA AGX Orin for on-site high computing capabilities, and our own Sensor Synchronization module to synchronize all the data with timestamps.

In the framework of AgrifoodTEF, this robot is being used for:

• Data acquisition and Geolocalisation
• Ground truth for testing and evaluation of AI and Robotic Algorithms
• Autonomous navigation

Specifications

• General Applications: Logistic, Agriculture, R&D, Transport, Construction
• Working Environment: Dirt, Dust, Water, Terrain, Hazardous
• Dimensions & Weight: 763 x 663 x 928 mm, 85 Kg
• Speed & Autonomy: 2.5 m/s (Max), Up to 8 hours
• Enclosure Class: IP54
• Motors & Traction System: 4 x 800 W brushless servomotors, & Skid Steering
• Control & Connectivity: ROS2 (open architecture), WIFI, Bluetooth, USB, RJ45, HDMI
• Teleoperation: Bluetooth 5.1 (Range 10 meter)
• Teleconnection: ~ 1km
• Cameras
  • Intel Realsense D457
    RGB: 1MP, 1280×800 (30 fps), Depth: 1280×720 (90 fps, Stereoscopic), Range: 0.6 to 6 m
  • Intel RealSense D435f
    RGB: 2MP, 1920×1080 (30 fps), Depth: 1280×720 (90 fps, Stereoscopic), Range: 0.3 to 3 m
• LiDAR
  • RoboSense RS-HELIOS 1615
    Beams: 16, Wavelength: 95 nm, Range: 150 m, Precision: 1 cm, FoV (Vertical: 360°, Horizontal: -15° to +15°)
• GPS-RTK
  • Ublox ZED-F9P (Receiver)
    Type: Multiband GNNS high precision, Accuracy RMS: 30 ns, Frequency: 0.25 Hz to 10M Hz, Velocity Accuracy: 500m/s, Acquisition Time: 2s, Navigation Update Rate: 7 Hz (Max)
• IMU
  • VectorNav VN-100T-CR
    Gyro in-run Bias: 5°/Hr, Accelerometer Range: ±16 g, Gyroscope Range: ±2000/sec, EKF Update Rate: 400 Hz, IMU Data: 800 Hz, Pitch/Roll: 0.5°, Accelerometer in-run Bias: <0.04 mg

This is a movable equipment, cofunded by AgrifoodTEF