Research using InDro robots for real-world autonomy

Research using InDro robots for real-world autonomy

Apr 7, 2025 | Autonomy, Case Studies, Scott Simmie, Success Stories

By Scott Simmie

 

As you’re likely aware by now, InDro builds custom robots for a wide variety of clients. Many of those clients are themselves researchers, creating algorithms that push the envelope in multiple sectors.

Recently, we highlighted amazing work being carried out at the University of Alberta, where our robots are being developed as Smart Walkers – intended to assist people with partial paralysis. (It’s a really fascinating story you can find right here.)

Today, we swing the spotlight down to North Carolina State University. That’s where we find Donggun Lee, Assistant Professor in the Departments of Mechanical Engineering and Aerospace Engineering. Donggun holds a PhD in Mechanical Engineering from UC Berkely (2022), as well as a Master’s of Science in the same discipline from the Korea Advanced Institute of Science and Technology. He oversees a small number of dedicated researchers at NCSU’s Intelligent Control Lab.

“We are working on safe autonomy in various vehicle systems and in uncertain conditions,” he explains.

That work could one day lead to safer and more efficient robot deliveries and enhance the use of autonomous vehicles in agriculture.

Below: Four modified AgileX Scout Mini platforms, outfitted with LiDAR, depth cameras and Commander Navigate are being used for research at NCSU. Chart below shows features of the Commander Navigate package

Research Robots
Commander Navigate

“UNCERTAIN” CONDITIONS

 

When you head out for a drive, it’s usually pretty predictable – but never certain. Maybe an oncoming vehicle will unexpectedly turn in front of you, or someone you’re following will spill a coffee on their lap and slam on their brakes. Perhaps the weather will change and you’ll face slippery conditions. As human beings, we’ve learned to respond as quickly as we can to uncertain scenarios or conditions. And, thankfully, we’re usually pretty good at it.

But what about robots? Delivery robots, for example, are already being rolled out at multiple locations in North America (and are quite widespread in China). How will they adapt to other robots on the road, or human-driven vehicles and even pedestrians? How will they adapt to slippery patches or ice or other unanticipated changes in terrain? The big picture goes far beyond obstacle avoidance – particularly if you’re also interested in efficiency. How do you ensure safe autonomy without being so careful that you slow things down?

These are the kinds of questions that intrigue Donggun Lee. And, for several years now, he has been searching for answers through research. To give you an idea of how his brain ticks, here’s the abstract from one of his co-authored IEEE papers:

Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV’s performance and significantly slow traffic throughput. Therefore, to avoid conservatism, we design an interaction-aware motion planner for the ego vehicle (AV) that interacts with surrounding vehicles to perform complex maneuvers in a locally optimal manner. Our planner uses a neural network-based interactive trajectory predictor and analytically integrates it with model predictive control (MPC). We solve the MPC optimization using the alternating direction method of multipliers (ADMM) and prove the algorithm’s convergence.

That gives you an idea of what turns Donggun’s crank. But with the addition of four InDro robots to his lab, he says research could explore many potential vectors.

“Any vehicle applications are okay in our group,” he explains. “We just try to develop general control and AI machine learning framework that works well in real vehicle scenarios.”

One (of many) applications that intrigues Donggun is agriculture. He’s interested in algorithms that could be used on a real farm, so that an autonomous tractor could safely follow an autonomous combine. And, in this case, they’ve done some work where they’ve programmed the Open Source Crazy Flie drone to autonomously follow the InDro robot. Despite the fact it’s a drone, Donggun says the algorithm could be useful to that agricultural work.

“You can easily replace a drone with a ground vehicle,” he explains.

And that’s not all.

“We are also currently tackling food delivery robot applications. There are a lot of uncertainties there: Humans walking around the robot, other nearby robots…How many humans will these robots interact with – and what kind of human behaviours will occur? These kinds of things are really unknown; there are no prior data.”

And so Donggun hopes to collect some.

“We want to develop some sort of AI system that will utilise the sensor information from the InDro robots in real-time. We eventually hope to be able to predict human behaviours and make decisions in real-time.”

Plus, some of Donggun’s previous research can be applied to future research. The paper cited above is a good example. In addition to the planned work on human-robot interaction, that previous research could also be applied to maximise efficiency.

“There is trade-off between safety guarantees and getting high performance. You want to get to a destination as quickly as possible and at speed while still avoiding collisions.”

He explains that the pendulum tends to swing to the caution side, where algorithms contain virtually all scenarios – including occurrences that are unlikely. By excluding some of those exceedingly rare ‘what-ifs’, he says speed and efficiency can be maximised without compromising safety.

Below: Image from Donggun’s autonomy research showing the InDro robot being followed by an Open Source Crazy Flie drone

NCSU InDro Navigator Cray Flie

INDRO’S TAKE

 

We, obviously, like to sell robots. In fact, our business depends on it.

And while we put all of our clients on an equal playing field, we have a special place in our non-robotic hearts for academic institutions doing important R&D. This is the space where breakthroughs are made.

“I really do love working with people in the research space,” says Head of R&D Sales Luke Corbeth. “We really make a concerted effort to maximise their budgets and, when possible, try to value-add with some extras. And, as with all clients, InDro backs what we sell with post-sale technical support and troubleshooting.”

The robots we delivered to NCSU were purchased under a four-year budget, and delivered last summer. Though the team is already carrying out impressive work, we know there’s much more to come and will certainly check in a year or so down the road.

In the meantime, if you’re looking for a robot or drone – whether in the R&D or Enterprise sectors – feel free to get in touch with us here. He takes pride in finding clients solutions that work.

Research at U of Alberta focuses on robotics for medical applications

Research at U of Alberta focuses on robotics for medical applications

Apr 2, 2025 | Case Studies, Industry News, Innovation, Scott Simmie, Success Stories

By Scott Simmie

 

You’ve probably heard of the “Three Ds” by now: Robots are perfect for tasks that are Dirty, Dull and Dangerous. In fact, we recently took a pretty comprehensive look at why inspection robots can tick all of these boxes – while saving companies from unplanned downtime.

Generally, that maxim holds true. But a recent conversation with two researchers from the University of Alberta got us thinking that some innovative robotics applications don’t truly fit this description. Specifically, certain medical or healthcare use-cases.

The people we spoke to carry out their research under the umbrella of a body that intersects the robotics and healthcare sectors. It’s called the Telerobotic and Biorobotic Systems Group in the Electrical and Computer Engineering Department of the U of A. It’s under the direction of Prof. Mahdi Tavakoli, who is kind of a big name in this sector. Within that group, there are three separate labs:

  • CREATE Lab (Collaborative, Rehabilitation, Assistive robotics research
  • HANDS Lab (Haptics and Surgery research
  • SIMULAT-OR Lab (A simulated operating room featuring a da Vinci Surgical System)

Broadly, the research can be thought of as belonging to one of two realms: Rehabilitation/assistive and surgical. But what does that actually mean? And how has a robot from InDro been modified to become a smart device that can assist people with certain disabilities?

Let’s dive in.

Below: Could a robotic platform like the Ranger Mini be put to use helping someone with mobility issues? We’ll find out…

Ranger Mini 3.0

HELPING PEOPLE (AND EVEN SURGEONS)

 

We spoke with researchers Sadra Zargarzadeh and Mahdi Chalaki. Sadra is a Master’s student in Electrical and Computer Engineering and previously studied Mechanical Engineering at Iran’s Sharif University of Technology. Mahdi is also a Master’s student in the same department, and studied Mechanical Engineering at the University of Tehran.

Sadra’s research has focused on healthcare robotics with an emphasis on autonomous systems leveraging Large Language Model AI.

“I’ve always had a passion for helping people that have disabilities,” he explains. “And in the rehab sector we often deal with patients that have some sort of fine motor skill issue or challenge in executing tasks the way they’d like to. Robotics has the potential to mitigate some of these issues and essentially be a means to remove some of the barriers patients are dealing with – so I think there’s a very big potential for engineering and robotics to increase the quality of life for these people.”

That’s not dirty, dull or dangerous. But it is a very worthwhile use-case.

 

SMART WALKER

 

People with mobility and/or balance issues often require the help of walkers. Some of these devices are completely manual, and some have their own form of locomotion that keeps pace with the user’s desired speed. The direction of these is generally controlled with two hands on some form of steering device. Usually, equal pressure from each hand and arm are required in order to go in a straight line and by pushing harder on one side or another steering is achieved.

But what about someone who has had a stroke that has left them with partial paralysis on one side? They might well not be able to compensate, meaning despite their intent to carry out a straight path forward the device would turn. That’s where Mahdi’s research comes in.

“Robotic walkers or Smart Walkers have been studied for more than 20 years,” he says. “But in almost all of them, their controllers assume you have the same amount of force in both of your hands. And people with strokes often don’t have the same strength in one side of their body as they have on the other side.”

So how can robotics compensate for that? Well, using an AgileX Ranger Mini with InDro Commander from InDro Robotics as the base, Mahdi and others got to work. They built a steering structure and integrated a force sensor, depth perception camera, and some clever algorithms. That camera zones in on the user’s shoulders and translates movement into user intent.

“We know, for example, if you are just trying to use your right hand to turn left, the shoulder angle increases. If you’re trying to turn right, the shoulder angle on the right arm decreases.”

By interpreting those shoulder movements in conjunction with the force being applied by each hand, this Smart Walker translates that data into desired steering action. As a result, the user doesn’t have to push so hard with that compromised side and it also reduces cognitive load. The wrist torque required by the user drops by up to 80 per cent.

Of course, there’s much more to this device than we’ve outlined here. Enough, in fact, that a scientific paper on it can be found here. You can also check out the video below:

 

ROBOTS IN THE O-R

 

While the Smart Walker is a great example of robotics being put to use on the assistive and rehabilitation side of things, let’s not forget that the Telerobotic and Biosystems Research Group also carries out work on the surgical side. Sadra explains that robotic devices – particularly in conjunction with AI – could prove of great benefit assisting a surgeon.

“My research centres around the use of Generative AI. With the growth of Large Language Models (LLM) such as ChatGPT, we want to see how these AI tools can translate into the physical world in robots. A big section of my projects have focused on Generative AI for surgical autonomy.”

For example, a robotic device with plenty of AI onboard might be able to handle tasks such as suctioning blood. Machine Vision and Machine Learning could help that device determine where and how much suction needs to be applied. And, if you push this far enough, a surgeon might be able to initiate that process with a simple voice command like: “Suction.”

“How can we have task planners and motion planners through generative AI such that the surgeon would communicate with the robot with natural language – so they could ask the robot to complete a task and it would execute?” asks Sadra. “This would allow robots to become more friendly to the average individual who doesn’t have robotics knowledge.”

On the flip side of the coin, there’s also the potential for robotic devices to inform the surgeon of something that might require attention. In breast cancer surgery, for example, an AI-enhanced robot with realtime data from an imaging device might notice remaining tumour tissue and give the all-clear to close the incision only after all cancerous material has been excised.

In other words, some of the algorithms Sadra works on involve working on that human-robotic interface while leveraging powerful Large Language Model systems.

“Exactly. And we look at this process in three stages: We think about high-level reasoning and task planning, then mid-level motion planning, then lower-level motion control. This is not only for surgery; it’s a similar workflow for assistive robotics.”

The head of the lab, Professor & Senior University of Alberta Engineering
Research Chair in Healthcare Robotics Dr. Mahdi Tavakoli, describes AI in this field as “a game-changer,” enabling the next level of human-robotics interface.

“Our focus is clear: We’re building robots that collaborate with humans — robots that can understand our language, interpret context, and assist with the kinds of repetitive or physically demanding tasks that free people up to focus on what they do best: The creative, the social, the human. We see the future in ‘collaborative intelligence,’ where people stay in control and robots amplify human capabilities.”

Fun fact: The most powerful LLMs are known as Generative Pretrained Transformers – which is where ChatGPT gets its name.

 

WHAT’S NEXT?

 

We asked the researchers if the plan is to ultimately explore commercialisation. Apparently it’s a little more complex when it comes to surgery due to regulatory issues, but this is definitely on the roadmap. Sadra has been doing research through a program called Lab2Market and says there’s been very positive feedback from clinicians, physical and occupational therapists and manufacturers.

Program head Dr. Tavakoli says the lab is “thinking big” about how such innovations can help diversify the Canadian economy. In Alberta specifically, which has traditionally been a resource-dominated economy, he says robotics presents a huge opportunity for growth.

“That’s part of why we’ve launched Alberta Robotics: To build a regional ecosystem for robotics research, education, and innovation. So, the University of Alberta is open for business when it comes to robotics; people should be watching for what will come out of Alberta in robotics!”

Below: A promotional video for the da Vinci Surgical System. Will research at the U of A someday enable machines like this to take verbal commands from a surgeon?

INDRO’S TAKE

 

The research being carried out at the University of Alberta is both fascinating and carries with it huge potential in both the surgery and rehabilitation/assistive spheres. We’re pleased to know that three Ranger Mini platforms with InDro Commander are being put to work for this purpose – which is unlike any other use-case we’ve seen for our robots.

“I’m incredibly impressed with what they’re doing,” says InDro Founder and CEO Philip Reece. “It’s researchers like these, quietly carrying out advanced and focussed work, who make breakthroughs that ultimately become real-world devices and applications. We’re pleased to put a well-deserved spotlight on their work.”

You can check out a list of researchers and alumni – and see a photo of Sadra and Mahdi – right here.

InDro clients Polytechnique Montréal featured on CNN with swarm research on ‘Mars’

InDro clients Polytechnique Montréal featured on CNN with swarm research on ‘Mars’

Oct 3, 2024 | Case Studies, In the media, Scott Simmie, Success Stories, Swarm Robotics

By Scott Simmie

There’s nothing quite as satisfying as seeing really good R&D in the field.

And when that research gets coverage from CNN? Well, that’s even better.

The news network just profiled some cutting-edge work being carried out by students at Polytechnique Montréal. Specifically, students who work in the MIST Lab – where that acronym stands for Making Innovative Space Technology.

We’ve profiled the work being carried out there before (you can find it here). Essentially, students are working on innovative robotics research they hope will one day prove useful on the moon and Mars.

“What we want to do is to explore environments including caves and surfaces on other planets or satellites using robotics,” explained Dr. Giovanni Beltrame (Ph.D.), a full professor at Polytechnique’s Departments of Computer Engineering and Software Engineering during our earlier interview. “Caves and lava tubes can be ideal places for settlement: They can be sealed and provide radiation shielding. There’s also a chance of finding water ice in them.”

The research certainly caught our attention – partly because the MIST Lab is an InDro client. We’ve supplied them with platforms and robots which they’ve enhanced with “backpacks” enabling swarm robotics research. Recently, they took a fleet of those connected robots to the Canadian Space Agency’s Mars Yard. The site has been built to replicate the surface on Mars – what’s known as a Planetary Analogue Terrain.

The mission? To have these interconnected robots autonomously map that surface in high-resolution.

Below: The Mars Yard. Photo by the Canadian Space Agency, followed by a pic of some of the robots InDro modified and supplied to Polytechnique Montréal

CSA Mars Yard
MIST

SWARM ROBOTICS

 

Fundamental to this research is deploying the robots in a swarm – where the robots carry out tasks autonomously while communicating with each other. In this experiment, they’re mapping that Planetary Analogue Terrain and compiling the data into a high-resolution digital twin.

“We absolutely believe that swarm robotics is the future of space exploration,” PhD student Riana Gagnon Souleiman told CNN. “It’s more efficient to have more robots and you’re less reliant on a single agent failing.”

We’ve written about swarm robotics before (and recently shipped a swarm to a US academic client). But this CNN story provides a full look at what the MIST Lab team has accomplished, modifying the robots with their own “backpack” for creating a local area network and meshing all that data.

In the video, which we’ll link to in a moment, you’ll see several of the 18 platforms InDro can supply. At the Mars Yard, you’ll see a Scout Mini, two Bunker Minis (seen in the photo above) and one Scout 2.0 – all working collaboratively.

The MIST Lab team has done an incredible job with modifying these robots and pulling off what we know is a very difficult mission. Kudos also to CNN for doing an exemplary job in explaining this story.

All set? You can watch the video here.

Below: Some of the MIST Lab researchers in a screen grab from the CNN story

Tight budget? InDro Offers multiple R&D options

Tight budget? InDro Offers multiple R&D options

Sep 19, 2024 | InDro News, LIMO, Scott Simmie, Success Stories

By Scott Simmie

 

Working on high-level R&D doesn’t necessarily mean a high-level budget.

It can, of course (and we can help you out there, as well).

But InDro is committed to putting powerful tools into the hands of researchers and developers without breaking the bank. We know many clients, particularly those in academia, often have ambitious plans but limited budgets. And we’re dedicated to providing those customers with multiple affordable options – along with the high-level support and documentation you’d expect might come only with more expensive options.

“That’s what makes it kind of fun, right? Trying to get clients the most value with the dollars available,” says Head of R&D Sales Luke Corbeth.

Often, academic researchers receive funding for specific projects from government or arms-length agencies. In Canada, many projects are partially funded by the forward-thinking Canada Foundation for Innovation. Founded in 1997 by the federal government, the CFI marked funding its 10,000th project in 2017 – and deserves a shout-out.

In the United States, academic clients are often funded by a similar agency, the National Science Foundation – which supports “grants, cooperative agreements and fellowships — that support research and education across science and engineering.”

More and more of these recipients come to InDro, looking for the biggest bang for their buck. Why InDro? Because we have options to suit any budget.

Below: The LIMO Pro, which we’ll hear about in a moment.

LIMO Pro Robot

LIMO AND LIMO PRO

 

The small but powerful robot pictured above is currently at work in many labs across North America. Perfect for research on autonomy and machine vision/machine learning, these multi-modal and ROS-based machines feature four steering modes and punch well above their weight. Equipped with sensors and AI to understand their environment, the LIMO is capable of working on its own or in swarms. For institutions creating algorithms to help Smart Mobility become even smarter, the LIMO has proven to be a robust solution.

Easy to operate? Yes. But that ease in some ways belies the capabilities of LIMO. Boston University has purchased dozens of LIMOs through InDro, and is using them for multiple applications, including high-level, Multi-Agent Systems research.

“So typically what we expect within the next, let’s say five to 10 years, is a mixture of the smart connected autonomous vehicles and the regular vehicles that we typically refer to as Human Driven Vehicles or HDVs. So the idea is: How can we get these teams of autonomous agents to work together?” says says Christos Cassandras, Distinguished Professor of Engineering, Head of the Division of Systems Engineering, and Professor of Electrical and Computer Engineering at Boston University.

“Since I can’t use dozens of real vehicles, I would like to use dozens of small robots that can be thought of as these autonomous vehicles, (which can) talk to each other, cooperate,” he says. “But also sometimes they don’t really cooperate if some of them are the HDVs. So what we are doing in our Boston University Robotics Lab…is we deploy these LIMOs that we have acquired as teams of autonomous vehicles.”

In the video below, you’ll see LIMOs driving cooperatively, calculating in real-time the most efficient way to merge. That’s followed by an overview video from LIMO manufacturer AgileX.

VERSATILE

 

Though your project might not involve the complexities undertaken at Boston University, these robots are up to whatever task you can throw at them.

“Oftentimes researchers want to purchase multiple of the same hardware to do multi-robot systems research, or the platform is going to be used for teaching and training,” says Corbeth.

For those requiring more advanced sensors and AI, there’s the LIMO Pro. We outline its capabilities here on our own website:

“Powered by NVIDIA Orin Nano, EAI T-mini Pro LiDAR, and Orbbec Dabai depth camera, the LIMO Pro robot delivers unparalleled environmental awareness for autonomous navigation, obstacle avoidance, and visual recognition. With ROS 1 Noetic and ROS 2 Foxy compatibility, seamless software integration is at your fingertips. Enjoy an extended 2.5-hour battery life for uninterrupted research and experimentation. The ultimate platform for students, researchers, and enthusiasts, LIMO Pro offers a transformative learning experience with state-of-the-art sensors and software.”

There are actually two versions of the LIMO Pro: The ROS and ROS2 models. The first operates on ROS1 Noetic and ROS2 Foxy and features the Jetson Orin Nano 8G for onboard compute. The ROS2 model incorporates an Intel NUC i7 8G for processing, and runs ROS2 Humble. Because all versions of LIMO are multi-modal (ie Omni Wheel, Four-Wheel Differential steering, Ackermann steering and Tracked steering), they allow researchers to test algorithms and responses in all of these modes – providing learnings that could be applied to larger platforms.

“So you can basically simulate any larger robot’s locomotion with just a small compact package,” says Corbeth.

LIMO Pro and the original LIMO are also affordable, priced at $3200 USD and $2500 USD respectively.

We should also add here that there’s a cobot version of LIMO Pro available, which has a manipulator arm on top.

“This allows teams to learn how to do the basics of mobile manipulation and then, should you want to expand on that with greater capabilities, scale up. But all the basics are there,” he adds. The manipulator arm version sells for about $4500 US.

 

DOCUMENTATION

 

It’s one thing to purchase even a small robot like LIMO. It’s quite another to get up and running in the way your R&D requires. While LIMO and LIMO Pro can be operated straight out of the box, InDro is aware users might need some help along the way with specific tasks or coding. For example, how do you put a model of the LIMO into Gazebo for simulated missions? No problem – InDro offers comprehensive documentation for all the products we sell.

Plus, our documentation is constantly updated as researchers hit us up with questions and our engineering team finds the answers.

“Basically this is a compilation of knowledge-based pages that we’ve accumulated over the years at this point, answering pretty much any question clients have ever approached us with,” says Corbeth.

“This extends from software to our physical products as well. The LIMO documentation is really fleshed out – we cover everything from how to use it in a gazebo simulation to networking, how to do teleoperation, SLAM, obstacle detection, obstacle avoidance. We even have a series of quizzes that people can use to test their knowledge and improve their understanding of how to effectively use this technology.”

All LIMO clients have on-demand and free access to this documentation. Here’s a screen grab that provides an overview of some of the topics covered:

LIMO documentation

QUADRUPEDS AND MORE

 

Of course, different research requires different platforms. Increasingly, we’re seeing demand for quadrupeds – which are capable of handling more demanding terrain (including stairs). And here, too, we have solutions.

“When it comes to quadrupeds, they’ve historically had two downsides: They were closed-source – so unavailable for development – and they were horrifically expensive,” explains Corbeth.

That has changed. Unitree Robotics has set a new bar for affordable and reliable open-source quadrupeds ideal for research and development and, if your budget’s a little higher, real-world deployment for monitoring, surveillance, search and rescue, etc.

The company began with a very smart engineering student, Wang Xinxing. His vision was to build a quadruped using powerful but relatively inexpensive brushless motors. His university project in 2014-2015 focussed on building what he termed XDog (where “X” means mystery). He was successful and just kept on going – founding Unitree. To look at how incredibly quickly this company has progressed, it’s worth comparing two videos. The first is back from Wang’s university days (from a YouTube channel he still maintains). The second is the GO2, featuring the new wheeled option.

It’s quite the contrast, and Unitree products are constantly being upgraded.

AFFORDABLE

 

Unitree does produce some very high-end models for industrial purposes (and we’re happy to help you with those), but the emphasis in this piece is on affordable models suitable for R&D. And here, there are some options.

The GO2 EDU has been designed for R&D work.

“The whole point of the GO2 EDU is to reduce barriers to entry, both in terms of price and development potential. Obviously they’ve gone through multiple iterations of the system now and have refined it – like, really refined it,” says Corbeth.

“The core locomotion is really good, the onboard compute is extremely powerful, it has a number of pre-integrated sensors and there’s super elaborate documentation. Basically, it’s the penultimate entry point for quadruped development and there’s more than one model.”

Is it cheap? Well, if you look at the Unitree website you’ll see one model touted at $1900 USD. But that is not the dog we’re talking about; that model is built pretty much solely for entertainment and not suitable for R&D. But you don’t have to take a great leap from there to get into the quadrupeds researchers are interested in. There are three models that have been finding their way from InDro to research institutes; all come with LiDAR and excellent compute.

  • GO2 EDU
  • GO2 EDU Plus (improved compute)
  • GO2 EDU Plus Hesai XT16 (additional LiDAR)
  • GO2 W Plus (wheeled version)

“The educational versions are the ones our clients are most interested in because those are the ones that have improved hardware and the ability to be programmed,” explains Corbeth. “They also come with a really intuitive remote that allows you to see what the robot is seeing through its various sensors.”

Prices for the GO2 EDU line start at $13,900 USD and come with the full support of InDro and its extensive online documentation. All of these quadrupeds can be customised with accessories, including wireless charging, a robotic manipulator arm and even a small Point-Tilt-Zoom camera.

Researchers have done a lot of work with their own autonomy stacks and machine learning on the GO2 EDU line. Some have even adapted the quadruped as a service dog, capable assisting those with vision impairments or other disabilities. With the right software, these quadrupeds are even capable of identifying and pushing accessibility buttons on doors, so that’s both cool and useful.

NOT JUST R&D

 

Though this story focusses on budget solutions, we’d be remiss if we didn’t point out that Unitree has an entire line  of quadrupeds (and now, two humanoid models), suitable for higher budgets and real-world deployment. The GO2 comes in an ENT, or Enterprise version, which can be outfitted with gas sensors, emergency services lighting and other features suitable for Search and Rescue, surveillance and monitoring, etc. And if you have a factory or industrial setting requiring repeatable autonomous monitoring, you can get into products like the B2, a large and powerful robot so robust it’s can carry huge loads and is even capable of walking underwater.

These are a significant leap in cost and abilities from the GO2 EDU line, but are still highly competitive when compared with other products on the market. The difference is that products like the B2 have been purpose-built for the industrial sector and deployment in highly demanding conditions.

Here’s a look at the B2 (it looks a lot bigger in real life). 

B2 Robot

AND FINALLY, OUR ROS-BASED DRONE

 

Before expanding into the ground robotics space, InDro built itself on its advanced R&D work and specialized service provision with drones. That works still continues, and we offer a wide variety of products for Enterprise use, including search and rescue, medical deliveries and more. But we’re particularly excited about a new drone we’ve developed for R&D clients seeking an affordable, open-source drone for development.

“The concept behind the R&D drone is we went to the market and we tried to find the best available open source ROS-based drone. And we couldn’t find one.” says Corbeth. “So essentially what we’ve done is find a way to build one ourselves.”

For R&D researchers, access to an affordable and programmable flying platform is a big deal – especially since the programming protocol is the same as working with a ROS-based ground robot.

“A drone is essentially a flying robot in terms of the way developers interact with it,” he says. “The primary difference is that instead of wheels, tracks or legs, you’re using motors and propellers.”

And, of course, sensors depending on client needs. Our R&D drone comes with a depth perception camera for obstacle avoidance and unfamiliar environments, but can be outfitted with anything a client needs. One of our clients is using this drone for research and mapping in caves, so we outfitted that model with a mapping LiDAR.

“If you start to consider more complicated applications like landing on a moving vehicle or landing on a sea vehicle, where the the home point is constantly changing, that’s not something you can do with a DJI drone – but is certainly something you could do with this,” says Corbeth. “Introducing any amount of machine vision or AI on the drone is something you can do when it’s open source, but not possible when it’s closed source.”

In another example, we have one academic client using this drone for research in combination with a swarm of LIMOs.

“One Canadian university is actually teaming together the drones with LIMOs. They’ve purchased a number of LIMOs, they’ve purchased a number of drones, and they’re going to basically work on a large, coordinated ground-air swarm – where the drones and ground robots will be communicating with each other.”

Research like this, obviously has great implications for Search and Rescue, mapping – and even the future of delivery – where packages might be transferred between autonomous ground and air vehicles.

The ROS-based R&D drone sells for $11,900 USD and comes standard with depth perception, high-power onboard compute, and extensive documentation and support.

InDro ROS drone

INDRO’S TAKE

 

While we often deal with large clients with large budgets, InDro will always retain its commitment to academia and others carrying out R&D with limited financial resources. And, as we’ve just outlined, we have multiple options that have proven a perfect fit for that category. From the LIMO through the GO2 line and our ROS-based drone, there are choices to suit pretty much any budget and research requirements.

“Clients in the academic and research world are incredibly important to InDro,” says Founder and CEO Philip Reece. “Cutting-edge research frequently leads to new innovations that accelerate the industry-at-large. We also believe it’s important for these innovative tools to be available to students – who will become the next generation of R&D researchers and entrepreneurs. This is truly important to us, and supporting these people is firmly part of the InDro ethos.”

The other bonus here? Well, that would be Luke Corbeth. You’d be hard-pressed to find someone more knowledgeable and enthusiastic about products, with as deep an understanding of research requirements and use-cases. Luke enjoys explaining our offerings, and – more than that – taking a deep dive into the client’s needs to ensure we can provide the perfect fit. And, trust us on this, he’s not the kind of person to push anything that isn’t the best solution.

You can contact Luke here.

Robots on earth help prepare for research on the moon

Robots on earth help prepare for research on the moon

Jan 29, 2024 | Industry News, Robots, Scott Simmie, Success Stories, Uncategorized

By Scott Simmie

 

What could small robots on earth have to do with exploration on the moon?

Quite a lot, as it turns out. Professors and engineering students at Polytechnique Montréal have been busy writing algorithms and running experiments with robots and drones with one goal in mind: To enable them to explore unfamiliar and even hostile surroundings far beyond the reach of GPS or other forms of precision location technology.

“What we want to do is to explore environments including caves and surfaces on other planets or satellites using robotics,” explains Dr. Giovanni Beltrame (Ph.D.), a full professor at Polytechnique’s Departments of Computer Engineering and Software Engineering.

Before we get to the how, let’s address the why.

“Caves and lava tubes can be ideal places for settlement: They can be sealed and provide radiation shielding. There’s also a chance of finding water ice in them,” says Dr. Beltrame.

Of course, it’s also less risky – and less expensive – to send robots to other planets and moons rather than human beings. They don’t require life support, don’t get tired (with the exception of having to recharge), and they can gather and process data quickly.

Just think of all the data that’s been acquired on Mars by the twin Rovers and the Mars helicopter.

Below: A selfie taken by NASA’s Perseverance rover November 1, 2023, during the the 960th Martian day of its mission. The rover was built with a focus on astrobiology, searching for signs of ancient microbial life on the red planet. Image courtesy of NASA.

Mars rover Perseverance

PREPARE ON EARTH, DEPLOY IN SPACE

 

It’s a pretty ambitious vision. But for Beltrame and his team, it’s also very real. And it requires a lot of work and research here on earth.

“So to get there (space) and do this with multiple robots, we’ve developed all sorts of technologies – navigation, perception, communication, coordination between the robots, and human-robot interfaces,” he says.

“We’re doing all these things, because our goal is to use a swarm of robots to do planetary exploration. There’s more, but that’s it in a nutshell.”

When you go to the moon, there’s no equivalent of GPS. And environments like caves can be really tricky – both in terms of robots understanding where they are, and also communicating with other robots beyond line of sight.

With the right technologies and algorithms, that communication is possible. And much of Beltrame’s research has involved testing this on earth. In particular, he’s focusing on how groups of robots could take on such tasks collaboratively.

“So our primary activities focus on swarm robotics,” he says.

Generally that starts with simulation models. But there are limits to simulations – and real-world testing is a big part of what’s going on at Polytechnique.

“So we do have this deployment philosophy that we try our technologies in simulation, but then we want to go to deploying robots. You can have the best simulation in the world, but there’s still a reality gap and it’s very extremely important to try things on the real robots,” he says.

“We have a saying in the lab, which is: ‘Everything works in simulation’. You can always make your algorithm work in simulation, and then you get out in the field and things go wrong. So one thing we do in the lab is we always do the full stack. That’s why we need to have real robots. And we don’t only do experiments with real robots in the lab, we do them in the field.”

MIST

 

The lab he’s referring to is known as Polytechnique’s MIST, which stands for Making Innovative Space Technology. Dr. Beltrame is the director of the lab, which focuses on computer engineering targeted towards space technologies. In addition to the researchers, the lab is home to a *lot* of robots. There are big ones, small ones, wheeled ones, flying ones (drones) – literally “hundreds” of robots at the lab.

But as Dr. Beltrame emphasised, proving that something will truly work requires testing in environments that are similar to what might be found on the moon or elsewhere. Locations where he’s carried out fieldwork include:

  • Lava Beds National Monument in California (with NASA JPL)
  • The Kentucky mega-cave with the CoSTAR team
  • Tequixtepec in Mexico with SpéléoQuébec

Just check out the images below of field work, courtesy of Dr. Beltrame:

Tight spaces

ESA photo

Cave drone

In the field

ESA photo

THE INDRO CONNECTION

 

Some of the robots used in the MIST lab – and perhaps eventually on the moon – arrived via InDro Robotics, a North American distributor for AgileX. In fact, Polytechnique has purchased a number of AgileX products, including platforms that InDro has modified to help speed the R&D process. These include:

  • 24 LIMOs and simulation table
  • AgileX Scout Mini
  • AgileX Scout 2.0
  • Two AgileX Bunker Mini platforms, with custom builds by InDro

We’ve written about the LIMO before – a small, affordable and versatile robot capable of perceiving its environment and even Simultaneous Localization and Mapping out of the box. It’s also an ideal size, particuarly when doing multi-agent/swarm robotics, for use in the lab. (You’d run out of space pretty fast with something much larger).

“The LIMOs are a very good platform for Simultaneous Localization and Mapping  – and perception in general,” says Beltrame.

He says they’re a good choice “because they have a 3D camera, they’re lighter, agile, and are sufficiently low in cost. So we can use them in large numbers. Another good thing about the LIMOs is that once you have a lot of similar robots that are reasonably agile, you can actually make a full deployment of software (across all robots).”

That makes them an ideal platform for multi-agent research and development.

“For example, we developed this tool called Swarm SLAM where many robots collaborate to have a better perception of the environment. We’re currently testing it with the full fleet of LIMOs. That’s something we would have believed impossible with larger robots for logistical reasons.”

Though the focus is firmly on space, the Polytechnique Montréal research has applications on earth. Swarms of robots could aid in disaster response, Search & Rescue, and more.

 

FAVOURITE ROBOT

 

The LIMO isn’t the only AgileX product in Polytechnique’s stable. And while Beltram likes all of them, he has a soft spot for one in particular.

“I would say that my favorite robot is the Scout Mini,” he says. “It’s fast, it’s agile and the control is extremely precise.”

In fact, Beltrame often takes the Scout Mini with him when doing school presentations. It’s small enough to be carried in the trunk of his car and hand-carried to classrooms. His team has also used the platform to test a new code for path planning and sophisticated energy calculations. It’s capable of tracking the additional energy required for climbing inclines, for example, then calculating when the robot needs to return home to wirelessly recharge.

As always, InDro works with clients to deliver precisely what they need. This saves time for those institutions and corporations on builds, allowing them to get on with the business of R&D.

“We’ve done quite a bit of integration for them,” says Luke Corbeth, InDro’s Head of R&D Sales.

“For example (see picture below), we provide a top plate with all required hardware mounted and integrated. They then add their own sensors, protective structure, etc. So this is a great example of how we work with clients on a case-by-case basis depending on their needs as robotics isn’t one-size-fits-all.”

Polytechnique mini bunkers

ONE SMALL STEP…

 

With all of this research, what comes next? Will the work being done today at Polytechnique eventually find its way off this planet?

“The answer is it’s going to happen very soon,” says Beltrame. Sometime later this year, a rocket will head toward the moon carrying three small robots. It’s called the Cadre mission.

A trio of small rovers will work as a team to explore the moon autonomously, mapping the subsurface in 3D, collecting distributed measurements, and showing the potential of multirobot missions,” says NASA’s JPL website. One of Beltrame’s students is working on that mission with JPL.

“This is one example of how the work that we’ve been doing in this lab, in the end – through students that were here – become real missions,” says Beltrame.

And that’s not all. As early as 2026, a Canadian-built rover could land on the moon in Canada’s first moon mission.

Its task? To explore the moon’s south polar region in search of “water ice.” This ice is critical to long-term human habitation on the moon – and can also be converted to fuel, both for energy on the moon and potentially to refuel other spacecraft with destinations further afield.

“I have an engineer from the Canadian Space Agency that’s a student of mine that’s developed the Mission Planner. So the idea is that we – our lab – developed the Mission Planner for the Canada rover that’s going to the moon.”

Here’s a look at that planned mission, from the CSA:

 
 
 

AND THERE’S MORE

 

There was some big news this week from Polytechnique Montréal. On January 24 it announced the formation of ASTROLITH, a body for “research in space resource and infrastructure engineering.”

It’s the first Canadian group dedicated to lunar engineering, according to a news release.

“Comprising experts from all seven Polytechnique departments, ASTROLITH will pursue the mission of helping to develop next-generation technologies and training the engineers of tomorrow to ensure Canada’s presence in space and lunar exploration, as well as addressing critical needs on our planet within the context of climate change, resource management and sustainable development,” reads the release.

So while the emphasis is on the moon, ASTROLITH will also result in some very practical – and urgent – use-cases on our home planet.

“As encapsulated in its Latin motto Ad Lunam pro Terra, ASTROLITH is dedicated to developing technologies with direct impacts here on Earth: enabling development of infrastructure in the Far North or facilitating the energy transition, for example,” says the release.

“Indeed, the research unit’s founding members are already involved in developing technologies in various areas related to space and extreme environments, from design of resilient habitats and infrastructures for remote regions to deployment of cislunar communications technologies to development of advanced robotics systems for prospecting and mining, among many others. Their work is bolstered by contributions from specialists in life-cycle analysis, sustainable development and space-related policy development.”

The team is composed of academics and researchers that span all seven Polytechnique departments. Beltrame, not surprisingly, is on the team – which is pictured below. (He’s in the back row, centre.)

 

INDRO’S TAKE

 

We find the work being carried out at Polytechnique Montréal, the MIST lab – and now ASTROLITH – both fascinating and important. It’s also a terrific example of how dedicated researchers and students can develop and test projects in the lab that eventually have real-world (and off-world) applications.

“I’m incredibly impressed with the work being carried out here, and the fact it can be put to positive use-cases both on earth and in space,” says InDro Robotics CEO Philip Reece.

“We wish Dr. Beltrame and his colleagues well, and we’ll certainly be watching these lunar missions with great interest. It’s always a pleasure when InDro can support teams doing important work like this.”

You can find more about the MIST lab here. And if you’d like to talk about AgileX robots (or any other robotic solution), connect with an InDro expert here. 

Boston University uses AgileX LIMO for research

Boston University uses AgileX LIMO for research

Jul 13, 2023 | Industry News, LIMO, Scott Simmie, Success Stories

By Scott Simmie

 

What will the Smart Cities of the future look like?

More specifically, how will the many anticipated devices operate – and cooperate – in this coming world? How will connected and autonomous vehicles interact to ensure the greatest efficiency with minimal risk? How might ground robots and drones fit into this scheme? And how can researchers even test algorithms without a fleet of connected vehicles, which would obviously incur great costs and require huge testing areas?

In the case of Boston University, the answer is in a small but powerful robot called LIMO.

LIMO

A VERSATILE PLATFORM

 

We spoke with three engineers from Boston University, each of whom are working with the AgileX LIMO platform. Before we get into an overview of their research, it’s worth taking a look at LIMO itself. Here’s how the manufacturer describes the product:

“LIMO is an innovative multi-modal, compact, and customizable mobile robot with Al modules and open-source ROS (Robot Operating System) packages, which enables education, researchers, enthusiasts to program and develop Al robots easier. The LIMO has four steering modes including Omni-directional steering, tracked steering, Ackerman and four-wheel differential, in line with strong perception sensors and Nvidia Jetson Nano, making it a better platform to develop more indoor and outdoor industrial applications while learning ROS.”

And it all comes in a pretty compact package:

 

LIMO

CAPABLE

 

While its user-friendly design is suitable for even enthusiasts and students to operate, its sophisticated capabilities mean it’s also perfect for high-end research. (You can find full specs on the product here.)

LIMO can detect objects in its surroundings and avoid them, and is even capable of Simultaneous Localisation and Mapping (SLAM). With a runtime of 40 minutes, extended missions are possible.

Here’s a look at LIMO in action, which provides a pretty good overview of its capabilities:

HIGH-LEVEL RESEARCH

 

We spoke with three people from Boston University, each of whom are using LIMO for different purposes. The three are:

  • Christos Cassandras, Distinguished Professor of Engineering, Head of the Division of Systems Engineering, and Professor of Electrical and Computer Engineering
  • Alyssa Pierson, Assistant Professor, Department of Mechanical Engineering
  • Mela Coffey, Graduate Research Assistant and PhD candidate under Alyssa Pierson in Mechanical Engineering

Cassandras is focused on groups of robots working cooperatively (and sometimes uncooperatively), called Multi-Agent Systems. If you think ahead to a connected Smart City of the future, the cars on the road would be Connected Automated Vehicles (CAVs). They would all be aware of each other and make autonomous decisions that ensure both safety and efficiency. Far enough down the road, today’s traffic signals, stop signs and more would likely not be needed because the vehicles are collectively part of a network.

“These vehicles become nodes in an Internet in which the vehicles talk to each other,” says Cassandras.

“They exchange information and so, ideally cooperatively, they can improve metrics of congestion, of energy, of pollution, of comfort, of safety – perhaps safety being predominant.”

In the video below, you’ll see LIMOs driving cooperatively, calculating in real-time the most efficient way to merge:

 

MAKING THE TRANSITION

 

But as we head toward this future, there will be a blend of regular cars and autonomous vehicles until the transition to automated driving is complete. And that period of transition will create its own challenges, which also interest Cassandras.

“So typically what we expect within the next, let’s say five to 10 years, is a mixture of the smart connected autonomous vehicles and the regular vehicles that we typically refer to as Human Driven Vehicles or HDVs. So the idea is: How can we get these teams of autonomous agents to work together?”

Obviously, testing this in a real-world scenario – with a blend of autonomous and HDVs – would be hugely expensive and require closed roads, etc. Enter LIMO – or, more accurately, a fleet of LIMOs.

“Since I can’t use dozens of real vehicles, I would like to use dozens of small robots that can be thought of as these autonomous vehicles, (which can) talk to each other, cooperate,” he says. “But also sometimes they don’t really cooperate if some of them are the HDVs. So what we are doing in our Boston University Robotics Lab, of which Alyssa and I are members along with several other colleagues, is we deploy these LIMOs that we have acquired as teams of autonomous vehicles.”

And what kinds of scenarios are they looking at? Well, consider how things work now. Cars stop at red lights, idle, and then quickly accelerate when the light turns green. This is hugely inefficient and adds to pollution. Wouldn’t it be better if there were no traffic lights at all, and vehicles could safely navigate around one another at peak efficiency? Well, of course. And that’s the kind of work Cassandras is conducting with a fleet of LIMOs at the Boston University Robotics Lab.

He is also one of the authors of a scientific paper that will be presented at the 7th IEEE Conference on Control Technology and Applications (CCTA) in August. That paper is entitled: “Optimal Control of Connected Automated Vehicles with Event-Triggered Control Barrier Functions: a Test Bed for Safe Optimal Merging.”

RASTIC

This fall, Boston University will open a new facility called the Robotics & Autonomous Systems Teaching & Innovation Center (RASTIC). There will be an area dedicated to mimicking a Smart City, with large numbers of LIMOs driving cooperatively (and sometimes uncooperatively). Cassandras says he intends to use a ceiling-based projector to create a simulated network of roads and obstacles on the floor for LIMOs to navigate.

“I envision about 20 to 30 LIMOs moving around, communicating – trying to get from Point A to Point B without hitting each other, as fast as possible, making turns, stopping at traffic lights if there are traffic lights, and so on… That’s the the grand vision. And RASTIC is intended for teaching as opposed to research.”

Other research using LIMOs will continue, meanwhile, at the existing Boston University Robotics Lab.

The following video, and this link, help explain RASTIC – and why this will be a significant facility for the Engineering Department.

THE IOT

 

So that’s one part of the resesarch using LIMOs. But wait, there’s more!

Assistant Professor Alyssa Pierson is also interested in Multi Agent Systems. But her work focusses less on the autonomous vehicle side of things, and more on general small-scale autonomous platforms. Think of delivery robots, drones, or even some other autonomous sensor platform making its way through the world.

“So thinking about instead of saying that two agents are inherently cooperative or non cooperative, what are all those nuanced interactions in between?” says Pierson.

“What does it mean if robots and a team have reputation that they can share among other robots? How does that change the underlying interactions? And we’re looking at these things, what reputation might mean, for instance, in perhaps robot delivery problems. How do they decide how to share resources, how to deliver supplies? The LIMOs provide a hardware platform to demonstrate these new algorithms that we propose.”

Graduate Research Assistant Mela Coffey is involved with this work, as well as some of her own as a PhD candidate.

Below: LIMO navigates obstacles, including dogs

LIMO Boston University

THE HUMAN FACTOR

 

Both Coffey and Pierson are also interested in how humans play a role in this world. And, more specifically, how robots might gather data that could assist humans in their own decision-making while tele-operating robots. Perhaps the robots might suggest that the human operator choose a more efficient route, for example.

It’s serious research, and a scientific paper on it has just been accepted for the upcoming International Conference on Intelligent Robots and Systems, IROS.

Coffey says the LIMO is perfect for this kind of research because it offers a hassle-free platform.

“From the start, they’ve been super easy to set up,” she says. “It’s nice just being able to take the robots right out of the box and there’s very minimal setup that we have to do. As roboticists, we don’t want to focus on the hardware – we want to just put our algorithms on the robot and show that our algorithms can work in real-time on these robots.”

Boston University has purchased a significant fleet of LIMOs from InDro.

“I think roughly total is about 30,” says Cassandras. “One of the things I was unhappy about with other small robots that we’ve worked with is that they would break a lot. That’s to be expected – if you have 10 and a couple break after a few months, that’s OK. But if you have 10 and six break, that’s not good. The LIMOs have been very reliable.”

 

ROS Robot

INDRO’S TAKE

 

Account Executive Luke Corbeth is the person who put these LIMOs into the hands of Boston University. He says it’s truly a perfect platform for such research.

“Since LIMO is multi-modal, researchers can test their algorithms with a differential, Ackerman, omnidirectional or tracked system without needing to purchase 4 separate units,” he says. 

“The LIMO comes equipped with all the hardware needed for multi-robot teaming. It’s rare to find such a versatile and budget-friendly platform with the compute, connectivity, cameras and sensors that are needed to make this type of project possible.”

Corbeth deals with the majority of InDro clients – and is passionate about his work, and the work people like the Boston University team are doing.

“I genuinely believe in a future where robots make our lives easier. My clients are the ones pushing us towards that future, so it’s satisfying to enable this sort of work. Above and beyond the research aspect, I know the students of my clients are learning a lot from using this robot, so it’s gratifying to know we’re assisting the next generation of innovators as well.”

And the best part? Priced at under $3000, LIMO is affordable, even for clients with limited budgets.

Interested? Learn more about LIMO and book a demo here.