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Increasing population of elderly and people with disabilities constitute a huge demand for wheelchairs. Wheelchairs have an important place to improve the lives of and mobilize people with disabilities. Also, autonomous wheelchairs constitute a suitable research platform for academic and industrial researchers. In this study, a finite state machine-based high-level controller and a Kinect-based navigation...
In this work, we present Simul-A2, a simulator based on a multi-agent architecture. Using this simulator, we can make test with Advanced Driver Assistance Systems (ADAS). Simul-A2 has been developed using Webots and libraries that have been developed by ROS Project. In order to introduce more realism, the virtual worlds in the simulator contain several agents that control the vehicles regardless of...
Humanoids playing soccer are required to solve a great variety of tasks: from perception to body motion, from decision making to team coordination. On the other hand, results from this community are sometimes underestimated or unexploited because of the dedicated software developed. In particular simulators are often designed for a specific robotics platform or in some other cases the integration...
The RESPOND-R framework is a modular, distributed data logging framework built for the purpose of studying Emergency Informatics as it relates to human-robot performance during disaster responses. Currently deployed systems have limited data logging capabilities, with few incorporating heterogeneous robotic systems. Current systems focus on human performance and event information, but often incorporate...
The demographic trend is towards ageing in our society and the number of people with physical impairments and disabilities will increase dramatically in the future. It is necessary to deliver advanced healthcare and services to these people so that they can live independently and stay well at home throughout their lifespan. This paper presents a multi-robot architecture for ambient assisted living...
Testing and debugging real hardware is a time consuming task, in particular for the case of aquatic robots, for which it is necessary to transport and deploy the robots on the water. Performing waterborne and airborne field experiments with expensive hardware embedded in not yet fully functional prototypes is a highly risky endeavour. In this sense, physics-based 3D simulators are key for a fast paced...
In a large number of tasks, such as exploration, inspection and surgery, robots are being used to replace or represent humans in remote environments. To investigate the challenges of this emerging research field, we developed a robotic system for telepresence. It is composed of two main modules: a robotic avatar, which is able to represent a human in a remote environment and a user interface that...
A control scheme for the mobile robot Roomba was developed using ROS (robot operating system), which allowed the control of the robot using velocity vector references. A Kinect sensor was incorporated into the system and also a framework which provides communication with processes in other instances, monitoring and remote control. The system is flexible enough to be replicated in the future in other...
This paper explains our low-cost approach to building an open platform telepresence robot, which uses an iRobot Create, ROS (Robot Operating System) and mobile devices. Besides using existing ROS packages we developed an Android application based on rosjava_core and android_core to control and view a live video stream from the remote robot. The robot could be used to have a video conference with people...
Several new developments have been integrated into the Simulation Environment for Autonomous Robots (SEAR), which is a newly developed platform agnostic three-dimensional robotics simulator. The range sensors, which have previously been validated against actual hardware [1] were improved to enable full 3D capabilities and a new class of light detection and ranging (LIDAR) class has been added. The...
The Open Platform for Robotic Services (OPRoS) supports the full life cycle for robot software development and execution by providing the robot software component model, component execution engine, various middleware services, development tools, and simulation environment. This paper describes a heterogeneous coupling scheme of OPRoS framework with ROS of which the communication infrastructure is...
Recently, some research in robotics has studied robot software platform to apply the principles of component-based software engineering to robotic control software, and to manage components and their communication with their component execution engine for diverse robot control software. The main problem with robotics software usually is that it runs on a particular software platform. This paper proposes...
A comprehensive technique to plan path for a mobile robot with nonholonomic constraints through maze routing technique has been presented. Our robot uses a stereo vision based approach to detect the obstacles by creating dense 3D point clouds from the stereo images. ROS packages have been implemented on the robot for specific tasks of providing: i) Linear and angular velocity commands, ii) Calibration...
This paper gives a framework to offer assistance to low cost ROS (Robot Operating System) supported heterogeneous robots in a large environment through cloud. To build such a system ‘Robot-Cloud’ is prepared which extends the functionality of a robot. A ‘Robot-Cloud’ is designed and implemented with components like cloud controller, ROS master node, storage unit, Map-reduce computing cluster and robotic...
This paper proposes a control system for intuitive operation of robotic manipulators based on the dual quaternion framework. The system is entirely developed using the Robotic Operating System (ROS). It contains both low level interface and end effector controllers for a Schunk Lightweight Arm and simple communication with sensor devices like Kinect. For validation of the system we perform a pick...
Object localization is a key issue of autonomous robots. RFID as a low cost, easy and effective technology has been widely used in localization and tracking situation. In this paper the ROS-based Simultaneous Localization and Mapping (SLAM) combined with Radio Frequency Identification (RFID) is used for a coarse position by our robot called RCT-M. Then with the RFID tag information, we could query...
A service oriented architecture with Robot Operating System is developed for upper part humanoid robot teleoperation with human gesture recognition. This architecture enables the system to distributed in nodes do physically do not change the humanoid weight.
Sonar and odometer sensors were developed and integrated into the Simulation Environment for Autonomous Robots (SEAR). These new sensors were then validated against a standard simulator, ROSStage as well as on an actual iRobot Create robot using Robot Operating System (ROS). In each simulator, an environment was created to match the real-world test environment. Measurements from the sensors were recorded...
This paper describes a Behavior Markup Language (BML) realizer that we developed for use in our research on human-robot interaction. Existing BML realizers used with virtual agents are based on fixed-timing algorithms and because of that are not suitable for robotic applications. Our realizer uses an event-driven architecture, based on Petri nets, to guarantee the specified synchronization constraints...
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