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In this paper we present an architecture that embeds an automatic task planner into the Robotic Operating System (ROS). The plans generated by the planner are automatically converted into executable behaviour trees. These behaviour trees are used as the basis of an execution monitoring process that is able to detect when the plan fails, trying to repair it or triggering a replanning process. This...
In this paper, we developed a control system hardware based on ROS and mapping and localization for two cooperative robots' self-driving and working in an unknown area. We applied the SLAM (Simultaneous Localization and Mapping) technology to recognize the robots' positions and environment conditions in the unknown area. And we also developed an UI system with C# windows programming to communicate...
The developers of path planning algorithms and localization have significantly improved the usability of the robot those days. By using software such as a Gmapping, the robot will be able to create a map of the surrounding area. This research utilizes the 3D sensor Asus_xtion_ pro to create an indoor map using SLAM and create 3D models for surrounding objects with a Turtlebot robot. In the first case,...
Swarm robots have the potential to be utilized as a part of various applications due to the obvious advantages they offer, namely their resilience, their adaptability to different environments, and their reduced reliance on humans, particularly for hazardous or laborious tasks such as search and rescue operations (SaR). Several particle swarm optimization (PSO) algorithms have been proposed and developed...
This paper describes the use of mobile agents in the group of cooperating UAV and UGV autonomous robots. Multiagent system simulation uses an environment that integrates robot operating system (ROS), V-REP simulation environment and JADE multi-agent system. Mobile agents ensure the continuation and completion of the mission even in case of failure of a device from a group. Paper describes a particular...
This article introduces the Hardware Robot Operating System (H-ROS), a joint hardware and software infrastructure to create vendor-agnostic reusable and reconfigurable robot hardware components. These robot components dynamically modify and extend the internal representation model of the robot enabling robots to switch on or off components selectively and literally exchange hardware components between...
This paper aims to investigate the formation control of multiple no-holonomic mobile robots based on consensus approach while guarantee inter-collision avoidance among robots. The proposed approach design a controller benefit of the product of Lyapunov and graph theory permit a group of agents to converge to a desired virtual geometric shape defined as an n-ellipsoid with its center track the desired...
this paper presents kinematic and dynamic models of non-holonomic differential-drive mobile robot (Kobuki) and validates the trajectory tracking controller results using Gazebo simulator with respect to real-time tests on Kobuki robot. The Results show the difference between the Gazebo simulated odometry and Kobuki robot real-time control test odometry. It is shown that the Gazebo simulator is efficient...
This paper presents the VaultBot dual-arm mobile manipulator and its integration with Robot Operating System, MoveIt!, and RViz, and thus demonstrate how two chronic issues with similar systems were addressed: overly complex integration and user control. Multiple levels of semi-autonomous control were developed for the base, manipulator(s), and coordinated motions involving both. Lower levels of autonomy...
In this text, we will present work on the design and development of a ROS-based (Robot Operating System1) remote 3D visualisation, control and simulation framework. This architecture has the purpose of extending the usability of a system devised in previous work by this research team during the CASIR (Coordinated Attention for Social Interaction with Robots) project. The proposed solution was implemented...
Localization is one of the problems that often appears in the world of robotics. Monte Carlo Localization (MCL) are the one of the popular algorithms in localization because easy to implement on issues Global Localization. This algorithm using particles to represent the robot position. MCL can simulated by Robot Operating System (ROS) using robot type is Pioneer3-dx. In this paper we will discuss...
Telerobotics (i.e., remote-controlling robots) is highly attractive for tasks in potentially dangerous situations, e.g., search and rescue, space exploration, and handling hazardous materials. However, when telerobots are deployed to complete tasks, the human operator needs to develop task plan and figure out how to execute it using the available control interface. Inappropriate controls can lead...
This paper proposed a formation control method based on the modified artificial physics for the multiple Unmanned Aerial Vehicles(UAVs) formation control problem. The formation control method based on basic artificial physics has a shortcoming of easily plunging into a local optimal solution, which will result in some unexpected formation. So we improved the existing artificial physics method using...
The agent-based subsumption model is widely acknowledged as the control systems for mobile robots. In this model, incremental layers can be stacked together by inhibitors and suppressors, which increasingly leads to complex and coordinate behaviors. ROS (Robot Operating System) is an open source robot software platform and gradually becoming the de facto standard for robot applications. There are...
The paper describes how the graduate course "Autonomous Robotics" innovatively introduces robotics to Master of Science students of the Faculty of Computer Engineering of the University of Padova (Italy). The main contributions are: 1) The adoption of a Project-Based Learning constructivist approach. This teaching methodology makes students able to autonomously build their robotic knowledge...
With the advent of latest technical advancements in the field of robotics, a stage has arrived where autonomous robots are expected to help humans in tasks that are either dangerous or too monotonous such as mining, search and rescue, floor cleaning. All these problems are derivatives of the coverage problem wherein the motto is to complete coverage of the environment in a time effective manner. Most...
Trajectory generation and tracking algorithms were developed using ROS (Robot Operating System) for the AR. Drone 2.0 quad copter. Flight paths were created with cubic polynomials and Bezier curves. A PID controller was implemented to drive the AR. Drone from its current position to the desired coordinate point for the trajectory tracking task. Additionally, a navigation method was implemented using...
This project aims to use the ROS (Robot Operating System) framework and its tools to classify simple gestures developed by the upper limbs of the user. The capture of the data movement is made by the Kinect sensor through ROS packages that allow the calibration and recognition of users. The obtained data is processed by fuzzy logic control, converting them into acceptable values for the robot movement...
In the growing field of Robotics, one of the many possible paths to explore is the social aspect that it can influence upon the present society. The combination of the goal-oriented development of robots with the interactivity used in games while employing mixed reality is a promising route to take in regard to designing user-friendly robots and improving problem solving featured in artificial intelligence...
Teleoperation is integral to society's uptake of modern robotic systems. Given the wide array of readily available robots, ranging from simple mobile platforms and UAVs to advanced humanoid robots such as ASIMO and PR2, teleoperation is required in many different forms. The recent advances in virtual reality systems, interactive input controls and even haptic devices facilitate a wide range of new...
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