Cye Menu:

cyemapsmall.jpg (2713 bytes) Overview
This brief review describes how Cye works.
compass.jpg (2623 bytes) Navigation
Learn about Cye's amazing ability to navigate.

computer.jpg (1716 bytes)

Programming
Discover how easy it is to program Cye.
reviews.jpg (1713 bytes) Reviews
Don't take my word for it, read these reviews.

cyelogo.jpg (2323 bytes)

Probotics
Check out the manufacturer's website!
smallcye.jpg (5448 bytes) Gallery
See pictures and videos of Cye in action.

The Cye page will be updated frequently. Check often for new information!

cyenavigation.jpg (15068 bytes)
 
Cye is currently the only home robot that can reliably navigate around a home or office.  In fact, it navigates better than most research robots which cost upwards of $15,000.

Most hobbyist robots use range finding and other sensors to move around and avoid most nearby obstacles.  These robots never know where they are, and generally just zip around randomly until they are retrieved, or their batteries run down.

Cye, on the other hand, uses highly accurate positional sensors to generate a map of your home or office (with a little human help).  He can then track his movements on this map (right) using a radio link to a PC.  This means Cye knows   where he is at all times, and it is a simple matter for him to move from the living room to the dining room, or from the kitchen to the den.

cyeonmap.jpg (11104 bytes)

The secret behind Cye's navigation success is called "Dead Reckoning". In robotics this means the ability to navigate using positional data only.  When you tell Cye to move to another room, your computer calculates a viable path on the map, then sends coordinates for Cye to follow.  As Cye moves, his encoder sensors check the velocity/distance of each wheel 500 times per second -- this telemetry data is then sent to the computer so the position of the robot can be tracked relative to walls and other obstacles.

Navigation with my Cye

When I first received my Cye I was a little skeptical about some of Probotics claims about navigational accuracy.

It took me only a few minutes to get things up and running.   First, I was instructed to find an open corner for Cye's base.  Then I attached the radio modem to the serial port on my PC, and installed a program called "MapNZap"off the included CD-ROM.

I carefully placed Cye on his base/charger and was delighted to hear him play a short tune as aknowledgement.  Next, I moved to my computer and ran
MapnZap.  After a brief initialization sequence I was prompted to choose the
robot's orientation, relative to my screen, and then the direction of the nearest wall, relative to Cye.  After making these selections I heard some noise and was surprised to see Cye back off his base, move to the closest wall, and bump squarely against it.   Then he turned and came back near the charger.  (Side note:  I was immediately impressed with how QUIET this robot is.  My other 'bots have been pretty noisy, but this one hardly makes a sound.)  Cye was ready to start exploring!

Mapping and Docking

cyeline.jpg (6855 bytes)

An overhead view of Cye was clearly visible in the middle of my screen, on a
gridded but otherwise empty background.  I left clicked on the robot icon, holding the button, and saw my cursor jump to a spot in front of the robot.  A line now connected my cursor to Cye, and when I moved it both the icon and the actual Cye began to creep forward. It was like pulling a toy with a piece of elastic; moving the cursor quickly caused the line to grow longer and the robot(s) would move faster.  Every time Cye bumped something, a small dark spot appeared on my screen.

I maneuvered Cye around a piece of exercise equipment, through a doorway,
and into the hall until I couldn't see him anymore.  I wanted him to come back, so as an experiment I clicked on the homebase icon.  Sure enough, the robot rolled through the door, around the exercise machine and right up to the charger.  I held my breath as it turned and tried to dock, yet was dismayed to discover that it was slightly off and had missed the charging station.  "Ah well," I muttered, "That was pretty darn close.  I guess I can't expect the robot to dock every time."   I stood to retrieve it, then watched in amazement as Cye backed away, moved to the other wall and squared against it, then came back and completed a PERFECT dock.  Apparently, bumping the wall the charger is on zeroes out accumulated errors on one axis, and bumping the other wall (remember that the base must be placed in a corner) zeroes out errors along the other axis.  If Cye can get anywhere near his base, he will dock with his charger every time.

MapNZap includes drawing tools so you can complete the maps that Cye starts.
I actually found this process to be a lot of fun, and pretty good exercise. (You'll find yourself jumping up from the computer to run into other rooms so you can see where Cye is at, relative to walls, beds, and other obstacles.)  The program contains a host of other features, like hotspots, line paths, vacuum paths, checkpoints, etc.
Cyepage.jpg (10678 bytes)
    
Dead Reckoning

Probotics makes some pretty bold claims about Cye's dead reckoning capabilities.  (Less than 5 degrees of orientation error after 50 feet of travel.)   But you might be wondering, "How good is it, really?"  Let me relate a quick story.

Last Friday I took Cye into my office and showed him to some friends.  I added a couple of hotspots to the office map I made earlier in the day, then threw together a quick ZAP program to make Cye visit both hotspots, and return home.  I ran the program and Cye backed away from his charger, navigated around my desk, out the door, and 20 feet down a hallway.  He then played a short tune, came back near my office, took a left down another hallway and rolled to the second hotspot.  Finally, he turned around and came back to my office.  For trips this long (about 100 feet) Probotics recommends adding one or more "checkpoints" on a straight section of wall so Cye can zero out errors; but I hadn't done that, so I held my breath as Cye entered the room.   I told everyone to watch how Cye will find his charger after he misses it on the first attempt.  Nope.  The robot rolled right up to the charger and docked ON THE FIRST TRY!  Admittedly, this was rather lucky; but it illustrates just how accurate this robot is.  It's truly an amazing thing to see.