ISRWiki - User contributions [en]

ScoutSoftwareStandalone

2015-10-03T14:33:16Z

John Mdz:

[[Image:Icon scout.png|thumb|Nomadic Scout platform]]

== About ==

This page presents instructions and software for our customized versions of Nomadic Scouts. This customization was performed by [http://www.idmind.pt IdMind] and includes new electronics. The use of this robot requires an external laptop for running the main software. The driver nodes are launched using roslaunch.

== Software ==

The source code can be found here: [[Media:Ros scout-2.0.tgz|ros_scout-2.0.tgz]].

All software was extensively in Ubuntu 12.04 and ROS Hydro (under rosbuild). Compatibility over different versions is not be guaranteed.

== Hardware ==

The robot contains:
* Two drive wheels, each with a motor controller that connects to a PC using USB, and a free wheel. There is a button on top that enables/disables the motors and can be used in emergencies.
* Encoders.

Each robot uses two 12V batteries. Do NOT leave the bateries plugged to the robot after working. Keep a periodic check on the bateries voltage and do NOT use them below 10.5V. A charger is provided in the room.

The robot can also be powered by an external plug (220V). Only use this plug when the robot's wheels are not touching the ground, minor testing or very small movements.

== Usage ==

Read the README file included in the above package.

=== Minor Notes ===

* It is considered that the rospackage joy is already installed:

sudo apt-get install ros-*VERSION*-joy

* By default the ubuntu user does not have permission to access the ttyUSBxx. It should be enough to add the user to the group dialout:

sudo adduser YOUR_USER dialout

Instructions

2014-10-21T11:46:34Z

John Mdz: /* Robot Usage */

[[Image:Icon pioneer3AT.png|thumb|P3-AT]]

== About ==

This page presents practical instructions for the Pioneer P3-AT. The use of this robot requires an external laptop for running the main software.

== Hardware ==

The autonomy of this robots is not very large. If the robot is not physically running (making changes in code, debug, etc etc) keep it plugged to the provided power adapter.

A red emergency button in placed on top of the robot. Check if it is not pressed when you want the robot to move.

== Software ==

Both the robot and SICK drivers are already installed on the robot.

== Robot Usage ==

* Turn the robot on in the back part
** Check if the Sick Laser in on ( LEDs on the top)
* Plug the ethernet cable to your PC
* The robot has a fixed IP: 192.168.1.2
* Connect via ssh. Username: maiss | Password: sistemasautonomos
* An example roslaunch is provided. It launches both the sick and the robot drivers
** roslaunch maiss_nav robot.launch
* To teleoperate (and test if the robot is OK) use the teleop_keybord:
** rosrun maiss_nav teleop_keybord

Instructions

2014-10-21T11:44:26Z

John Mdz: /* Robot Usage */

[[Image:Icon pioneer3AT.png|thumb|P3-AT]]

== About ==

This page presents practical instructions for the Pioneer P3-AT. The use of this robot requires an external laptop for running the main software.

== Hardware ==

The autonomy of this robots is not very large. If the robot is not physically running (making changes in code, debug, etc etc) keep it plugged to the provided power adapter.

A red emergency button in placed on top of the robot. Check if it is not pressed when you want the robot to move.

== Software ==

Both the robot and SICK drivers are already installed on the robot.

== Robot Usage ==

* Turn the robot on in the back part
** Check if the Sick Laser in on ( LEDs on the top)
* Plug the ethernet cable to your PC
* The robot has a fixed IP: 192.168.1.2
* Connect via ssh. Username: maiss | Password: sistemasautonomos
* A roslaunch is provided and launches both the sick and the robot drivers
** roslaunch maiss_nav robot.launch

Instructions

2014-10-21T11:25:48Z

John Mdz:

[[Image:Icon pioneer3AT.png|thumb|P3-AT]]

== About ==

This page presents practical instructions for the Pioneer P3-AT. The use of this robot requires an external laptop for running the main software.

== Hardware ==

The autonomy of this robots is not very large. If the robot is not physically running (making changes in code, debug, etc etc) keep it plugged to the provided power adapter.

A red emergency button in placed on top of the robot. Check if it is not pressed when you want the robot to move.

== Software ==

Both the robot and SICK drivers are already installed on the robot.

== Robot Usage ==

* Turn the robot on in the back part
** Check if the Sick Laser in on ( LEDs on the top)
* Plug the ethernet cable to your PC
* The robot has a fixed IP: 192.168.1.2
* Connect via ssh. Username: maiss Password: sistemasautonomos
* A roslaunch is provided and launches both the sick and the robot drivers
** roslaunch maiss_nav robot.launch

Instructions

2014-10-21T11:24:29Z

John Mdz: /* Robot Usage */

[[Image:Icon pioneer3AT.png|thumb|P3-AT]]

== About ==

This page presents practical instructions for the Pioneer P3-AT. The use of this robot requires an external laptop for running the main software.

== Robot Usage ==

* Turn the robot on in the back part
** Check if the Sick Laser in on ( LEDs on the top)
* Plug the ethernet cable to your PC
* The robot has a fixed IP: 192.168.1.2
* Connect via ssh. Username: maiss Password: sistemasautonomos
* A roslaunch is provided and launches both the sick and the robot drivers
** roslaunch maiss_nav robot.launch

== Hardware ==

The autonomy of this robots is not very large. If the robot is not physically running (making changes in code, debug, etc etc) keep it plugged to the provided power adapter.

A red emergency button in placed on top of the robot. Check if it is not pressed when you want the robot to move.

Home Automation

2014-10-14T11:59:09Z

John Mdz:

== About ==

This page presents instructions and software for our Home Automated Devices. The devices and network are installed in the LRM lab in the 8th floor and it is part of a mock-up apartment.

== Software ==

Software can be found in https://github.com/joaocgreis/roah_devices Instructions regarding this software inside.

== Hardware ==

Our network includes:

* 1 light dimmer in the living room;
* 2 on/off switches in the bedroom;
* 1 motor controlling the blinds in the living room;
* 1 bell near the door
* 1 IP camera near the door
* 2 IP 360º cams on top of the scenario (might not be available. Extra)

== Usage ==

In order to use the devices one needs to be connected to the network in the 8th floor. You should also have an static IP in the range 192.168.1.XX (do NOT choose the 56).

A diagram of the network is presented next. Notice that if one wants to use the extra 360º cameras you will a PC with 2 Ethernet ports (we can provide one).

[[Image:Rockin_testbed_network.jpg|Rockin_testbed_network.jpg]]

Home Automation

2014-10-14T11:56:58Z

John Mdz: /* Usage */

== About ==

This page presents instructions and software for our Home Automated Devices. The devices and network are installed in the LRM lab in the 8th floor and it is part of a mock-up apartment.

== Software ==

Software can be found in https://github.com/joaocgreis/roah_devices Instructions regarding this software inside.

== Hardware ==

Our network includes:

* 1 light dimmer in the living room;
* 2 on/off switches in the bedroom;
* 1 motor controlling the blinds in the living room;
* 1 bell near the door
* 1 IP camera near the door
* 2 IP 360º cams on top of the scenario (might not be available)

== Usage ==

In order to use the devices one needs to be connected to the network in the 8th floor. You should also have an static IP in the range 192.168.1.XX (do NOT choose the 56).

A diagram of the network is presented next:

[[Image:Rockin_testbed_network.jpg|Rockin_testbed_network.jpg]]

Notice

File:Rockin testbed network.jpg

2014-10-14T11:56:24Z

John Mdz: uploaded a new version of "File:Rockin testbed network.jpg"

File:Rockin testbed network.jpg

2014-10-14T11:52:34Z

John Mdz:

Home Automation

2014-10-14T11:52:08Z

John Mdz: /* Usage */

== About ==

This page presents instructions and software for our Home Automated Devices. The devices and network are installed in the LRM lab in the 8th floor and it is part of a mock-up apartment.

== Software ==

Software can be found in https://github.com/joaocgreis/roah_devices Instructions regarding this software inside.

== Hardware ==

Our network includes:

* 1 light dimmer in the living room;
* 2 on/off switches in the bedroom;
* 1 motor controlling the blinds in the living room;
* 1 bell near the door
* 1 IP camera near the door
* 2 IP 360º cams on top of the scenario (might not be available)

== Usage ==

In order to use the devices one needs to be connected to the network in the 8th floor. You should also have an static IP in the range 192.168.1.XX (do NOT choose the 56).

A diagram of the network is presented next:

[[Image:Rockin_testbed_network.jpg|Rockin_testbed_network.jpg]]

Home Automation

2014-10-14T11:50:10Z

John Mdz: /* Usage */

== About ==

This page presents instructions and software for our Home Automated Devices. The devices and network are installed in the LRM lab in the 8th floor and it is part of a mock-up apartment.

== Software ==

Software can be found in https://github.com/joaocgreis/roah_devices Instructions regarding this software inside.

== Hardware ==

Our network includes:

* 1 light dimmer in the living room;
* 2 on/off switches in the bedroom;
* 1 motor controlling the blinds in the living room;
* 1 bell near the door
* 1 IP camera near the door
* 2 IP 360º cams on top of the scenario (might not be available)

== Usage ==

In order to use the devices one needs to be connected to the network in the 8th floor. You should also have an static IP in the range 192.168.1.XX (do NOT choose the 56).

A diagram of the network is presented next:

[[Media:Rockin_testbed_network.pdf|Rockin_testbed_network.pdf]]

Home Automation

2014-10-14T11:49:02Z

John Mdz: /* Usage */

== About ==

This page presents instructions and software for our Home Automated Devices. The devices and network are installed in the LRM lab in the 8th floor and it is part of a mock-up apartment.

== Software ==

Software can be found in https://github.com/joaocgreis/roah_devices Instructions regarding this software inside.

== Hardware ==

Our network includes:

* 1 light dimmer in the living room;
* 2 on/off switches in the bedroom;
* 1 motor controlling the blinds in the living room;
* 1 bell near the door
* 1 IP camera near the door
* 2 IP 360º cams on top of the scenario (might not be available)

== Usage ==

In order to use the devices one needs to be connected to the network in the 8th floor. You should also have an static IP in the range 192.168.1.XX (do NOT choose the 56).

A diagram of the network is presented next:

[[Rockin_testbed_network.pdf]]

File:Rockin testbed network.pdf

2014-10-14T11:48:33Z

John Mdz:

Home Automation

2014-10-14T11:47:39Z

John Mdz: Created page with "== About == This page presents instructions and software for our Home Automated Devices. The devices and network are installed in the LRM lab in the 8th floor and it is part of ..."

== About ==

This page presents instructions and software for our Home Automated Devices. The devices and network are installed in the LRM lab in the 8th floor and it is part of a mock-up apartment.

== Software ==

Software can be found in https://github.com/joaocgreis/roah_devices Instructions regarding this software inside.

== Hardware ==

Our network includes:

* 1 light dimmer in the living room;
* 2 on/off switches in the bedroom;
* 1 motor controlling the blinds in the living room;
* 1 bell near the door
* 1 IP camera near the door
* 2 IP 360º cams on top of the scenario (might not be available)

== Usage ==

In order to use the devices one needs to be connected to the network in the 8th floor. You should also have an static IP in the range 192.168.1.XX (do NOT choose the 56).

A diagram of the network is presented next:

Autonomous Systems resources

2014-10-14T11:07:21Z

John Mdz: /* Software and Miscellaneous */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || IdMind Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
* [[Instructions]]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== Home Automation and Fusion projects ===

Software for [[ Home Automation ]]

==== IP Cams ====
===== Hardware =====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

===== Software =====

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

Instructions

2014-10-14T11:00:34Z

John Mdz:

[[Image:Icon pioneer3AT.png|thumb|P3-AT]]

== About ==

This page presents practical instructions for the Pioneer P3-AT. The use of this robot requires an external laptop for running the main software.

== Robot Usage ==

* Turn the robot on in the back part
** Check if the Sick Laser in on ( LEDs on the top)
* Plug the ethernet cable to your PC
* The robot has a fixed IP: 192.168.1.2
* Connect via ssh. Username: maiss Password: sistemasautonomos
* roslaunch

== Hardware ==

The autonomy of this robots is not very large. If the robot is not physically running (making changes in code, debug, etc etc) keep it plugged to the provided power adapter.

A red emergency button in placed on top of the robot. Check if it is not pressed when you want the robot to move.

Instructions

2014-10-14T10:58:47Z

John Mdz: /* Robot Usage */

== About ==

This page presents practical instructions for the Pioneer P3-AT. The use of this robot requires an external laptop for running the main software.

== Robot Usage ==

* Turn the robot on in the back part
** Check if the Sick Laser in on ( LEDs on the top)
* Plug the ethernet cable to your PC
* The robot has a fixed IP: 192.168.1.2
* Connect via ssh. Username: maiss Password: sistemasautonomos
* roslaunch

== Hardware ==

The autonomy of this robots is not very large. If the robot is not physically running (making changes in code, debug, etc etc) keep it plugged to the provided power adapter.

A red emergency button in placed on top of the robot. Check if it is not pressed when you want the robot to move.

Instructions

2014-10-14T10:57:12Z

John Mdz: Created page with "== About == This page presents practical instructions for the Pioneer P3-AT. The use of this robot requires an external laptop for running the main software. == Robot Usage ==..."

== About ==

This page presents practical instructions for the Pioneer P3-AT. The use of this robot requires an external laptop for running the main software.

== Robot Usage ==

* Turn the robot on in the back part
** Check if the Sick Laser in on ( LEDs on the top)
* Plug the ethernet cable to your PC
* The robot has a fixed IP: 192.168.1.2
* Connect via ssh. Username: maiss Pswrd: sistemasautonomos
* roslaunch

== Hardware ==

The autonomy of this robots is not very large. If the robot is not physically running (making changes in code, debug, etc etc) keep it plugged to the provided power adapter.

A red emergency button in placed on top of the robot. Check if it is not pressed when you want the robot to move.

Instructions and software

2014-10-14T10:56:37Z

John Mdz: Blanked the page

Autonomous Systems resources

2014-10-14T10:55:44Z

John Mdz: /* Robots */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || IdMind Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
* [[Instructions]]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

Instructions and software

2014-10-14T10:54:14Z

== About ==

This page presents practical instructions for the Pioneer P3-AT. The use of this robot requires an external laptop for running the main software.

== Robot Usage ==

* Turn the robot on in the back part
** Check if the Sick Laser in on ( LEDs on the top)
* Plug the ethernet cable to your PC
* The robot has a fixed IP: 192.168.1.2
* Connect via ssh. Username: maiss Pswrd: sistemasautonomos
* roslaunch

== Hardware ==

The autonomy of this robots is not very large. If the robot is not physically running (making changes in code, debug, etc etc) keep it plugged to the provided power adapter.

A red emergency button in placed on top of the robot. Check if it is not pressed when you want the robot to move.

Autonomous Systems resources

2014-10-14T10:05:14Z

John Mdz: /* Robots */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || IdMind Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
* [[Instructions and software]]
|-
| [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

ScoutSoftwareStandalone

2014-10-09T17:14:29Z

John Mdz: /* Hardware */

[[Image:Icon scout.png|thumb|Nomadic Scout platform]]

== About ==

This page presents instructions and software for our customized versions of Nomadic Scouts. This customization was performed by [http://www.idmind.pt IdMind] and includes new electronics. The use of this robot requires an external laptop for running the main software. The driver nodes are launched using roslaunch.

== Software ==

The source code can be found here: [[Media:Ros scout-2.0.tgz|ros_scout-2.0.tgz]].

All software was extensively in Ubuntu 12.04 and ROS Hydro (under rosbuild). Compatibility over different versions may not be guaranteed.

== Hardware ==

The robot contains:
* Two drive wheels, a motor controller that connects to a PC using USB, and a free wheel. There is a button on top that enables/disables the motors and can be used in emergencies.
* Encoders.

Each robot uses two 12V batteries. Do NOT leave the bateries plugged to the robot after working. Keep a periodic check on the bateries voltage and do NOT use them below 10.5V. A charger is provided in the room.

The robot can also be powered by an external plug (220V). Only use this plug when the robot's wheels are not touching the ground, minor testing and in case all batteries are charging.

== Usage ==

Read the README file included in the above package.

=== Minor Notes ===

* It is considered that the rospackage joy is already installed:

sudo apt-get install ros-*VERSION*-joy

* By default the ubuntu user does not have permission to access the ttyUSBxx. It should be enough to add the user to the group dialout:

sudo adduser YOUR_USER dialout

Autonomous Systems resources

2014-10-09T17:08:04Z

John Mdz: /* Robots */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

Autonomous Systems resources

2014-10-09T17:07:42Z

John Mdz: /* Robots */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]

<
|-
| [[Image:Icon socrob.png|100px]] || SocRob omni
* [[SocrobOmniSoftware|instructions and software]]
>
|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

ScoutSoftwareStandalone

2014-10-09T17:05:59Z

John Mdz: /* Software */

Autonomous Systems resources

2014-10-09T16:53:03Z

John Mdz: /* for MS Kinect for XBOX RGBD cam */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

Autonomous Systems resources

2014-10-09T16:52:38Z

John Mdz: /* Software */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== for MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

Autonomous Systems resources

2014-10-09T16:52:11Z

John Mdz: /* Software */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) the is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== for MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

Autonomous Systems resources

2014-10-09T16:51:31Z

John Mdz: /* Software */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be placed in the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) the is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== for MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

File:Ipcam.tar

2014-10-09T16:50:52Z

John Mdz:

Autonomous Systems resources

2014-10-09T16:48:12Z

John Mdz: /* Software */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in [[Media:ipcam.tgz|ipcam.tgz]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be placed in the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) the is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== for MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

Autonomous Systems resources

2014-10-09T16:47:14Z

John Mdz: /* Software */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in ??. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be placed in the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) the is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== for MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

Autonomous Systems resources

2014-10-09T16:46:55Z

John Mdz: /* Software */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in ??. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be placed in the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) the is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== for MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

Autonomous Systems resources

2014-10-09T16:46:38Z

John Mdz: /* IP Cams for Home Automation and Fusion projects */

== Robots ==

{| border=1

|-
| [[Image:Icon magabot.png|100px]] || Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]

|-
| [[Image:Icon scout.png|100px]] || NomadicScout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]


|-
|}

== Bibliography for projects ==

=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]

=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]

=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]

=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]

=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]

=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]

=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1 Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]

=== on quadcopters ===
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]

=== on cooperative teammate localization ===
* [http://welcome.isr.ist.utl.pt/img/pdfs/1485_FinalVersion.pdf Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]]
* [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]
* [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]

=== on cooperative perception and localization using shared objects ===
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]



== Software and Miscellaneous ==
=== IP Cams for Home Automation and Fusion projects ===

==== Hardware ====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/

==== Software ====

The ROS software to acquire data from the cameras is provided in ??. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be placed in the roslaunch.

This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) the is no problem in running the software in a personal PC.

Note that in order to acquire data from the cameras one need to be in the ISR network.

=== for MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack

=== Laser Range Finders ===
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]]


=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]

=== maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)

=== demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!

=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip

ScoutSoftwareStandalone

2014-10-08T15:34:35Z

John Mdz: /* Usage */

ScoutSoftwareStandalone

2014-10-08T15:34:27Z

John Mdz: /* Minor Notes */

ScoutSoftwareStandalone

2014-10-08T15:21:20Z

John Mdz: /* Software */

ScoutSoftwareStandalone

2014-10-08T15:13:48Z

John Mdz: /* Software */

SocrobOmniSoftware

2013-11-13T12:41:55Z

John Mdz: /* Hardware */

[[Image:Icon socrob.png|thumb|SocRob OMNI platform]]

== About ==

This page presents instructions and ROS drivers to use the SocRob OMNI platform. This platform does not contain any computer on-board, so everything must be connected to a laptop placed in the robot.

=== Hardware ===

The robot contains:
* Three omnidirectional wheels, motors (with temperature sensors) and a motor controller that connects to a PC using USB. There is a button on top that enables/disables the motors and can be used in emergencies.
* An omnidirectional camera that connects to a PC using Ethernet.
* A compass.
* An Arduino that connects to a PC using USB. This Arduino is used to interface the compass and temperature sensors.

Each robot uses two 12V batteries (be aware of the different plug for charging/discharging), and one more to power the camera alone. Do NOT leave the bateries plugged to the robot after working. Keep a periodic check on the bateries voltage and do NOT use them below 10.5/11V.

The electronics of the robot have to be turned on using a switch on the chassis.

=== Software ===

The software contains drivers for:
* motors -- control motors and receive odometry
* compass -- compass angle and motor temperatures, since both are connected to the same Arduino


There is a control hierarchy implemented in control_selector.

There are a few watchdogs implemented to stop the robot in extreme situations:
* camera_watchdog -- stops the robot if no image is received from the camera
* temperature_watchdog -- stops the robot is motors temperature becomes too high
* show_stopper -- fuses the information from watchdogs to determine if the robot must be stopped

== Software ==

=== SocRob ROS Packages ===

The source code can be found here: [[Media:SocRob_OMNI_ROS-1.0.tar.xz|SocRob_OMNI_ROS-1.0.tar.xz]]. This must be decompressed to a directory in the ROS_PACKAGE_PATH.

=== System Dependencies ===

Install system dependencies (Boost, libFTDI and curl) with:

<code>
sudo apt-get install libboost-all-dev libftdipp-dev libftdipp1 curl
</code>

=== FTDI Access Permissions ===

You might be able to use USB devices without this, but in some cases you must explicitly give permissions for your user to access FTDI devices over USB.

Create a Udev file as root with:

<code>
sudo nano /etc/udev/rules.d/10-socrob.rules
</code>

and fill it with

<code>
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", OWNER="socrob"

SUBSYSTEMS=="usb", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", OWNER="socrob"
</code>

replacing socrob with your username.

== Usage ==

Please note:
* This software was extensively tested with ROS Fuerte.
* The environment variable MY_ID must be set to the robot number. For example: <code>export MY_ID=2</code>
* Ethernet must be configured with the static IP address 172.16.46.80. Camera IP is 172.16.46.8#(robot's number)
* When using a launch file, all of the ROS parameters must be initialized. Check ''driver.launch'' for an example.
* When using ''roscore'' without a launch file, the script to set the parameters must be run from inside socrob_ros with: <code>sh config/set_params_real.sh</code>

=== Packages ===
* socrob_ros -- All drivers that still depend on the old MeRMaID libraries and some examples.
* socrob_aux -- Independent ROS packages:
** mermaid_defines -- Legacy MeRMaID header with some typedefs and defines.
** mermaid_xml -- Legacy MeRMaID library to process xml files (new ROS projects should use yaml and rosparam).
** mjpeg_camera -- Network camera driver.
** socrob_base -- Base headers for SocRob code and Math template library.
** socrob_display -- Utility to display debug images.

== Motors Node ==

=== Subscribed Topics ===

* control_input_final -- Final command, fused by control_selector
* watchdogs/all_ok -- Final robot status, fused by show_stopper

=== Published Topics ===

* odometry -- Odometry
* world_info/isRunning -- Button state

=== Defined in ''src/Libraries/WorldDefinition.hpp'' ===

* MaximumSpeed -- Maximum speed of the robot

== Compass Node ==

=== Published Topics ===

* compass_angle -- Compass angle in radians
* temperature -- Motors temperature for each motor in degrees celsius



== MJPEG Camera Node ==

=== Published Topics ===

* image_raw -- Image stream from the camera

=== Parameters ===

* filename -- Camera URL or video filename to read (for the OMNI platform cameras use ''http://172.16.46.8#/video.mjpg'')

== SocRob Display ==

Used for debug display by the compass, line_points and driver_view. To use, while the nodes are running type:

<code>
rosrun socrob_display srdisplay
</code>

== Examples ==

The driver.launch file will launch the OmniManual teleoperation utility along with a transformed view of the camera image, simulation a forward view with rear view mirror. Pressing ''h'' will show the terminal's commands.

The line_points node is an example of how to process and extract information from images.

SocrobOmniSoftware

2013-11-13T12:41:30Z

John Mdz: /* Hardware */

SocrobOmniSoftware

2013-10-02T10:57:42Z

John Mdz: /* Hardware */

[[Image:Icon socrob.png|thumb|SocRob OMNI platform]]

== About ==

This page presents instructions and ROS drivers to use the SocRob OMNI platform. This platform does not contain any computer on-board, so everything must be connected to a laptop placed in the robot.

=== Hardware ===

The robot contains:
* Three omnidirectional wheels, motors (with temperature sensors) and a motor controller that connects to a PC using USB. There is a button on top that enables/disables the motors and can be used in emergencies.
* An omnidirectional camera that connects to a PC using Ethernet.
* A compass.
* An Arduino that connects to a PC using USB. This Arduino is used to interface the compass and temperature sensors.

Each robot uses two 12V batteries (be aware of the different plug for charging/discharging), and one more to power the camera alone. The electronics of the robot have to be turned on using a switch on the chassis.

=== Software ===

The software contains drivers for:
* motors -- control motors and receive odometry
* compass -- compass angle and motor temperatures, since both are connected to the same Arduino


There is a control hierarchy implemented in control_selector.

There are a few watchdogs implemented to stop the robot in extreme situations:
* camera_watchdog -- stops the robot if no image is received from the camera
* temperature_watchdog -- stops the robot is motors temperature becomes too high
* show_stopper -- fuses the information from watchdogs to determine if the robot must be stopped

== Software ==

=== SocRob ROS Packages ===

The source code can be found here: [[Media:SocRob_OMNI_ROS-1.0.tar.xz|SocRob_OMNI_ROS-1.0.tar.xz]]. This must be decompressed to a directory in the ROS_PACKAGE_PATH.

=== System Dependencies ===

Install system dependencies (Boost, libFTDI and curl) with:

<code>
sudo apt-get install libboost-all-dev libftdipp-dev libftdipp1 curl
</code>

=== FTDI Access Permissions ===

You might be able to use USB devices without this, but in some cases you must explicitly give permissions for your user to access FTDI devices over USB.

Create a Udev file as root with:

<code>
sudo nano /etc/udev/rules.d/10-socrob.rules
</code>

and fill it with

<code>
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", OWNER="socrob"

SUBSYSTEMS=="usb", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", OWNER="socrob"
</code>

replacing socrob with your username.

== Usage ==

Please note:
* This software was extensively tested with ROS Fuerte.
* The environment variable MY_ID must be set to the robot number. For example: <code>export MY_ID=2</code>
* Ethernet must be configured with the static IP address 172.16.46.80. Camera IP is 172.16.46.8#(robot's number)
* When using a launch file, all of the ROS parameters must be initialized. Check ''driver.launch'' for an example.
* When using ''roscore'' without a launch file, the script to set the parameters must be run from inside socrob_ros with: <code>sh config/set_params_real.sh</code>

=== Packages ===
* socrob_ros -- All drivers that still depend on the old MeRMaID libraries and some examples.
* socrob_aux -- Independent ROS packages:
** mermaid_defines -- Legacy MeRMaID header with some typedefs and defines.
** mermaid_xml -- Legacy MeRMaID library to process xml files (new ROS projects should use yaml and rosparam).
** mjpeg_camera -- Network camera driver.
** socrob_base -- Base headers for SocRob code and Math template library.
** socrob_display -- Utility to display debug images.

== Motors Node ==

=== Subscribed Topics ===

* control_input_final -- Final command, fused by control_selector
* watchdogs/all_ok -- Final robot status, fused by show_stopper

=== Published Topics ===

* odometry -- Odometry
* world_info/isRunning -- Button state

=== Defined in ''src/Libraries/WorldDefinition.hpp'' ===

* MaximumSpeed -- Maximum speed of the robot

== Compass Node ==

=== Published Topics ===

* compass_angle -- Compass angle in radians
* temperature -- Motors temperature for each motor in degrees celsius



== MJPEG Camera Node ==

=== Published Topics ===

* image_raw -- Image stream from the camera

=== Parameters ===

* filename -- Camera URL or video filename to read (for the OMNI platform cameras use ''http://172.16.46.8#/video.mjpg'')

== SocRob Display ==

Used for debug display by the compass, line_points and driver_view. To use, while the nodes are running type:

<code>
rosrun socrob_display srdisplay
</code>

== Examples ==

The driver.launch file will launch the OmniManual teleoperation utility along with a transformed view of the camera image, simulation a forward view with rear view mirror. Pressing ''h'' will show the terminal's commands.

The line_points node is an example of how to process and extract information from images.

File:SocRob OMNI ROS-1.0.tar.xz

2013-09-25T19:35:46Z

John Mdz:

SocrobOmniSoftware

2013-09-25T19:33:40Z

John Mdz: /* Examples */

[[Image:Icon socrob.png|thumb|SocRob OMNI platform]]

== About ==

This page presents instructions and ROS drivers to use the SocRob OMNI platform. This platform does not contain any computer on-board, so everything must be connected to a laptop placed in the robot.

It is considered that the computer has a ROS Fuerte installation.

The software contains drivers for:
* motors -- control motors and recieve odometry
* compass -- compass angle and motor temperatures, since both are connected to the same Arduino
* kicker -- control the kicker and recieve charged voltage

There is a control hierarchy implemented in control_selector.

There are a few watchdogs implemented to stop the robot in extreme situations:
* camera_watchdog -- stops the robot if no image is received from the camera
* temperature_watchdog -- stops the robot is motors temperature becomes too high
* show_stopper -- fuses the information from watchdogs to determine if the robot must be stopped

== Software ==

=== SocRob ROS Packages ===

The source code can be found here: [[Media:SocRob_OMNI_ROS-1.0.tar.xz|SocRob_OMNI_ROS-1.0.tar.xz]]. This must be decompressed to a directory in the ROS_PACKAGE_PATH.

=== System Dependencies ===

Install system dependencies (Boost, libFTDI and curl) with:

<code>
sudo apt-get install libboost-all-dev libftdipp-dev libftdipp1 curl
</code>

=== FTDI Access Permissions ===

You might be able to use USB devices without this, but in some cases you must explicitly give permissions for your user to access FTDI devices over USB.

Create a Udev file as root with:

<code>
sudo nano /etc/udev/rules.d/10-socrob.rules
</code>

and fill it with

<code>
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", OWNER="socrob"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", OWNER="socrob"
</code>

replacing socrob with your username.

== Usage ==

Please note:
* The environment variable MY_ID must be set to the robot number. For example: <code>export MY_ID=2</code>
* Ethernet must be configured with the static IP address 172.16.46.80. Camera IP is 172.16.46.8#(robot's number)
* When using a launch file, all of the ROS parameters must be initialized. Check ''driver.launch'' for an example.
* When using ''roscore'' without a launch file, the script to set the parameters must be run from inside socrob_ros with: <code>sh config/set_params_real.sh</code>

=== Packages ===
* socrob_ros -- All drivers that still depend on the old MeRMaID libraries and some examples.
* socrob_aux -- Independent ROS packages:
** mermaid_defines -- Legacy MeRMaID header with some typedefs and defines.
** mermaid_xml -- Legacy MeRMaID library to process xml files (new ROS projects should use yaml and rosparam).
** mjpeg_camera -- Network camera driver.
** socrob_base -- Base headers for SocRob code and Math template library.
** socrob_display -- Utility to display debug images.

=== Motors Node ===

==== Subscribed Topics ====

* control_input_final -- Final command, fused by control_selector
* watchdogs/all_ok -- Final robot status, fused by show_stopper

==== Published Topics ====

* odometry -- Odometry
* world_info/isRunning -- Button state

=== Compass Node ===

==== Published Topics ====

* compass_angle -- Compass angle in radians
* temperature -- Motors temperature for each motor in degrees celsius

=== Kicker Node ===

==== Subscribed Topics ====

* world_info/isRunning -- The kicker is only charged if the robot is playing or ready to play
* kick -- Kick with intensity from 0 to 100

== Examples ==

The driver.launch file will launch the OmniManual teleoperation utility along with a transformed view of the camera image, simulation a forward view with rear view mirror. Pressing ''h'' will show the terminal's commands.

The line_points node is an example of how to process and extract information from images.

SocrobOmniSoftware

2013-09-25T19:31:59Z

John Mdz: Created page with "SocRob OMNI platform == About == This page presents instructions and ROS drivers to use the SocRob OMNI platform. This platform does not contain..."

[[Image:Icon socrob.png|thumb|SocRob OMNI platform]]

== About ==

This page presents instructions and ROS drivers to use the SocRob OMNI platform. This platform does not contain any computer on-board, so everything must be connected to a laptop placed in the robot.

It is considered that the computer has a ROS Fuerte installation.

The software contains drivers for:
* motors -- control motors and recieve odometry
* compass -- compass angle and motor temperatures, since both are connected to the same Arduino
* kicker -- control the kicker and recieve charged voltage

There is a control hierarchy implemented in control_selector.

There are a few watchdogs implemented to stop the robot in extreme situations:
* camera_watchdog -- stops the robot if no image is received from the camera
* temperature_watchdog -- stops the robot is motors temperature becomes too high
* show_stopper -- fuses the information from watchdogs to determine if the robot must be stopped

== Software ==

=== SocRob ROS Packages ===

The source code can be found here: [[Media:SocRob_OMNI_ROS-1.0.tar.xz|SocRob_OMNI_ROS-1.0.tar.xz]]. This must be decompressed to a directory in the ROS_PACKAGE_PATH.

=== System Dependencies ===

Install system dependencies (Boost, libFTDI and curl) with:

<code>
sudo apt-get install libboost-all-dev libftdipp-dev libftdipp1 curl
</code>

=== FTDI Access Permissions ===

You might be able to use USB devices without this, but in some cases you must explicitly give permissions for your user to access FTDI devices over USB.

Create a Udev file as root with:

<code>
sudo nano /etc/udev/rules.d/10-socrob.rules
</code>

and fill it with

<code>
SUBSYSTEMS=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", OWNER="socrob"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", OWNER="socrob"
</code>

replacing socrob with your username.

== Usage ==

Please note:
* The environment variable MY_ID must be set to the robot number. For example: <code>export MY_ID=2</code>
* Ethernet must be configured with the static IP address 172.16.46.80. Camera IP is 172.16.46.8#(robot's number)
* When using a launch file, all of the ROS parameters must be initialized. Check ''driver.launch'' for an example.
* When using ''roscore'' without a launch file, the script to set the parameters must be run from inside socrob_ros with: <code>sh config/set_params_real.sh</code>

=== Packages ===
* socrob_ros -- All drivers that still depend on the old MeRMaID libraries and some examples.
* socrob_aux -- Independent ROS packages:
** mermaid_defines -- Legacy MeRMaID header with some typedefs and defines.
** mermaid_xml -- Legacy MeRMaID library to process xml files (new ROS projects should use yaml and rosparam).
** mjpeg_camera -- Network camera driver.
** socrob_base -- Base headers for SocRob code and Math template library.
** socrob_display -- Utility to display debug images.

=== Motors Node ===

==== Subscribed Topics ====

* control_input_final -- Final command, fused by control_selector
* watchdogs/all_ok -- Final robot status, fused by show_stopper

==== Published Topics ====

* odometry -- Odometry
* world_info/isRunning -- Button state

=== Compass Node ===

==== Published Topics ====

* compass_angle -- Compass angle in radians
* temperature -- Motors temperature for each motor in degrees celsius

=== Kicker Node ===

==== Subscribed Topics ====

* world_info/isRunning -- The kicker is only charged if the robot is playing or ready to play
* kick -- Kick with intensity from 0 to 100

== Examples ==

The driver.launch file will launch the OmniManual teleoperation utility along with a transformed view of the camera image, simulation a forward view with rear view mirror.

The line_points node is an example of how to process and extract information from images.