Intelligent Robotic Internet of Things TeStbed (IRIS) - Links and Documentation
Autonomous Networks Research Group (ANRG)
University of Southern California
Welcome to the main IRIS repository where you can find the code, documentation, and pcb designs related to the open source IRIS testbed. There are many modular parts of the IRIS testbed that may be useful for researchers, and, because the maintainers are currently low on bandwidth, we ask strongly encourage the community to please submit a Github issue to request further documentation or help on how to recreate any to all parts of the IRIS testbed.
IRIS-RIOT - A fork of RIOT-OS with all RIOT related IRIS testbed application code.
IRIS-mbed-os-3pi - IRIS testbed application code built on mbed OS for the mbed LPC1768 platform and code for the Pololu 3pi base (atmega328p MCU).
One very useful piece to the community is the IRISbot's MCU to MCU communication via HDLC over UART. We have implemented cross-comaptible libraries for both RIOT-OS and mbed OS for sending HDLC packets in a multi-threaded environment. For the RIOT-OS implementation:
For the mbed OS implementation:
Please see the pcb_designs folder to find the .brd and .sch files (Eagle) of
the various PCB designs for the IRISbots. Since the publishing of our original
paper, we have upgraded the triple sensor board to a quadruple sensor board
because we found using three sensors for omnidirectional localization resulted
in sporadic blindspots. The layouts have also been simplified to reduce the
number of needed jumper cables. To manufacture our PCB designs, we suggest using
seeedstudio.io.
https://docs.google.com/presentation/d/1Dmg364Kt8fulA3RI1eVobmNLkZHoMGymSkHf-HZB2n8/edit?usp=sharing
Jason A Tran, Pradipta Ghosh, Yutong Gu, Richard Kim, Daniel D’Souza, Nora Ayanian, Bhaskar Krishnamachari, "Intelligent Robotic IoT System (IRIS) Testbed", in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct, 2018.