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Tailoring cloud support for each autonomous-driving application would require maintaining multiple infrastructures, potentially resulting in low resource utilization, low performance, and high management overhead. To address this problem, the authors present a unified cloud infrastructure with Spark for distributed computing, Alluxio for distributed storage, and OpenCL to exploit heterogeneous computing...
This paper proposes a 3D model-based vision system for detecting a manipulator's gripper on a scene, tracking it as it moves and continuously determining its state (opened or closed), information that is used to signal that an object can be grasped. Build upon the Robot Operating System (ROS), it mainly comprises a registration pipeline, a tracking algorithm and a state classifier based on a proposed...
Learning in robotics has become a requirement in some advanced industrial applications since robots are expected to perform complex, and in some cases multiple, tasks while simultaneously handling the unpredicted conditions of the environment. The research discussed in this paper focuses on the development of an algorithm that will allow a mobile robot to determine its own physical dimensions. This...
The remote controls which are used to control the robots are very expensive. In addition, one remote control is required for each robot. The goal of this work is to control multi robots at the same time by publish a single ROS message using one Android device. The user can drive robots with help of a variety of sensors and camera data which are displayed on the Android device screen, even if the user...
This article describes a method of organizing the communication protocol, which allows agents of the multiagent system (MAS) to make decisions about their actions. Plan activities and interact with each other to perform tasks of modern industrial and business processes based on cyber-physical systems. The main attention is paid to those multi-agent systems, where autonomous agents — robots or smart...
In disaster scenarios or search and rescue applications an efficient, constructive and safe mission needs more than just robotic hardware and control. One major element is the interface between operator and robot. In this contribution, we present the approach of VTB-mediated teleoperation. This comprises (i) using standardized interfaces to integrate existing knowledge and libraries of the robotics...
This paper deals with control system of skid steered robotic vehicle. Skid steering offers very simple way to achieve good traction on rough terrain. On the other hand it is difficult to precisely control the speed and the position of the vehicle. The presented solution uses modern approaches to control drives of the robotic vehicle such as visual odometry with stereo camera in combination with precise...
Lawn maintenance is a tedious task that requires watering, mowing and fertilizing to be carried out at regular intervals to maintain a healthy lawn. Significant wastage and pollution occurs due to improper lawn maintenance practices. With many repetitive and routine tasks being replaced by robotic systems, lawn maintenance could also be achieved using a robotic system that would limit wastage and...
This work proposes an obstacle avoidance method based on depth camera for UAV navigation. Firstly, we use a RealSense depth-camera to obtain depth images of the UAV flight environment. Then the image processing board is applied to stratify and segment the depth image and to obtain the orientation and distance information of the obstacle, thus generating the corresponding obstacle avoidance instructions...
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,...
A Cross-sectional study conducted to understand how music therapy can affect patients who suffer from memory loss conditions such as Dementia and Alzheimer's disease. A comparative study is conducted between music and non-music questionnaires, to find patterns and indications of how music can contribute towards memory recall. The experiment is conducted using Emotiv Epoc headset which has 16 sensors...
In the last few decades, the mobile robotic field has witnessed an incredible progress in the field of development. It finds application in different areas like space exploration, military, intelligent transportation, medical areas, agriculture and in the field of entertainment. Hence, the need for a practical integration tool is necessary in the field of robotics research. Nowadays, the main problems...
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...
High-precision mapping and localization contribute to mobile robot navigation. It also provides convenience, robustness and safety for navigation. But for the single feature and large-scale scene, to build high-precision mapping and localization has great challenges and difficulties. Meanwhile, high precise is unnecessary for simple task. Therefore, this paper proposes a new methods of environment...
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...
An autopilot system includes several modules, and the software architecture has a variety of programs. As we all know, it is necessary that there exists one brand with a compatible sensor system till now, owing to complexity and variety of sensors before. In this paper, we apply (Robot Operating System) ROS-based distributed architecture. Deep learning methods also adopted by perception modules. Experimental...
This paper is proposal with regarding reinforcement learning and robotics. It contains our study so far about reinforcement learning problem and Q-learning — one of the methods to solve it. The method is tested both by running on a simulation and on NAO robot. Both are written in high programming language. Since the testing are also done on NAO robot. This paper also includes our understanding about...
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