http://mediawiki.isr.tecnico.ulisboa.pt/api.php?action=feedcontributions&feedformat=atom&user=Yoda 2026-06-24T12:57:06Z User contributions MediaWiki 1.41.0 http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=High_Performance_Computing:_tutorial_on_using_Deucalion&diff=7253 2025-07-08T09:17:43Z

<p>Yoda: </p> <hr /> <div>Informal tutorial targeting the ISR-Lisboa users, on accessing and using the [https://docs.deucalion.macc.fccn.pt/ Deucalion High-Performance Computing (HPC) cluster], covering the fundamentals of [https://slurm.schedmd.com/ SLURM] and [https://www.open-mpi.org/ MPI] through Python (using the [https://mpi4py.readthedocs.io/ mpi4py package]).<br /> <br /> &lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> Slides: [[media:Workshop Deucalion.pdf|Workshop Deucalion.pdf]]<br /> <br /> Github repository: https://github.com/rventura/demo-hpc.git</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=High_Performance_Computing:_tutorial_on_using_Deucalion&diff=7252 2025-07-08T09:17:08Z

<p>Yoda: </p> <hr /> <div>Informal tutorial targeting the ISR-Lisboa users, on accessing and using the [https://docs.deucalion.macc.fccn.pt/ Deucalion High-Performance Computing (HPC) cluster], covering the fundamentals of [https://slurm.schedmd.com/ SLURM] and [https://www.open-mpi.org/ MPI] through Python (using [mpi4py https://mpi4py.readthedocs.io/] package).<br /> <br /> &lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> Slides: [[media:Workshop Deucalion.pdf|Workshop Deucalion.pdf]]<br /> <br /> Github repository: https://github.com/rventura/demo-hpc.git</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=High_Performance_Computing:_tutorial_on_using_Deucalion&diff=7251 2025-07-08T09:08:41Z

<p>Yoda: </p> <hr /> <div>Informal tutorial targeting the ISR-Lisboa users, on accessing and using the Deucalion High-Performance Computing (HPC) cluster, covering the fundamentals of SLURM and MPI to get one started.<br /> <br /> &lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> Slides: [[media:Workshop Deucalion.pdf|Workshop Deucalion.pdf]]<br /> <br /> Github repository: https://github.com/rventura/demo-hpc.git</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=High_Performance_Computing:_tutorial_on_using_Deucalion&diff=7250 2025-07-08T09:01:11Z

<p>Yoda: </p> <hr /> <div>Informal tutorial on accessing and using the Deucalion High-Performance Computing (HPC) cluster, covering the fundamentals of SLURM and MPI to get one started.<br /> <br /> &lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> Slides: [[media:Workshop Deucalion.pdf|Workshop Deucalion.pdf]]<br /> <br /> Github repository: https://github.com/rventura/demo-hpc.git</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=High_Performance_Computing:_tutorial_on_using_Deucalion&diff=7249 2025-07-07T21:52:14Z

<p>Yoda: </p> <hr /> <div>&lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> Slides: [[media:Workshop Deucalion.pdf|Workshop Deucalion.pdf]]<br /> <br /> Github repository: https://github.com/rventura/demo-hpc.git</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=High_Performance_Computing:_tutorial_on_using_Deucalion&diff=7248 2025-07-07T21:51:59Z

<p>Yoda: </p> <hr /> <div>&lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> Slides: [[media:Workshop Deucalion.pdf|xpto]]<br /> <br /> Github repository: https://github.com/rventura/demo-hpc.git</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=High_Performance_Computing:_tutorial_on_using_Deucalion&diff=7247 2025-07-07T21:51:36Z

<p>Yoda: </p> <hr /> <div>&lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> Slides: [[media:Workshop Deucalion.pdf Workshop Deucalion.pdf]]<br /> <br /> Github repository: https://github.com/rventura/demo-hpc.git</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=High_Performance_Computing:_tutorial_on_using_Deucalion&diff=7246 2025-07-07T21:51:19Z

<p>Yoda: </p> <hr /> <div>&lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> Slides: [[media:Workshop Deucalion.pdf]]<br /> <br /> Github repository: https://github.com/rventura/demo-hpc.git</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=High_Performance_Computing:_tutorial_on_using_Deucalion&diff=7245 2025-07-07T21:50:49Z

<p>Yoda: </p> <hr /> <div>&lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> Slides: [[Media:Workshop Deucalion.pdf]]<br /> <br /> Github repository: https://github.com/rventura/demo-hpc.git</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=High_Performance_Computing:_tutorial_on_using_Deucalion&diff=7244 2025-07-07T21:50:25Z

<p>Yoda: Created page with &quot;&lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt; Slides: [Media:Workshop Deucalion.pdf] Github repository: https://github.com/rventura/demo-hpc.git&quot;</p> <hr /> <div>&lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/jFvdDea5aqs?si=20wDvQ9x0u22hfJT&quot; title=&quot;YouTube video player&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share&quot; referrerpolicy=&quot;strict-origin-when-cross-origin&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> Slides: [Media:Workshop Deucalion.pdf]<br /> <br /> Github repository: https://github.com/rventura/demo-hpc.git</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=File:Workshop_Deucalion.pdf&diff=7243 2025-07-07T21:49:42Z

<p>Yoda: </p> <hr /> <div></div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Main_Page&diff=7242 2025-07-07T21:30:27Z

<p>Yoda: /* Events */</p> <hr /> <div>&lt;big&gt;'''Welcome to the community wiki space of the [http://www.isr.ist.utl.pt Institute for Systems and Robotics].'''&lt;/big&gt;<br /> <br /> == About ==<br /> <br /> '''Institutional presentation of ISR: [[Media:ISR-Institutional-Presentation2019.pdf|download (PDF)]]'''<br /> <br /> == Research ==<br /> <br /> * bureaucracy: [[Prospective PhD students]]<br /> * [[Vislab | Computer and Robot Vision Lab (VisLab)]]<br /> ** robots: [[Chica]], [[Chico]], [[Chico head]], [[Darwin]], [[Nao]], [[Vizzy]]<br /> ** archive: [[iCub logbook]], [[VisLab Videos]], [[VisLab Proceedings]]<br /> ** datasets: [[Multiple View Tracking | Datasets with multiple views]], [http://vislab.isr.ist.utl.pt/hda-dataset/ HDA Dataset] ([[HDA dataset issues]])<br /> ** demos: [[Affordance imitation]], '''[[iCub instructions]]''', [[Cyberglove Remote Control]]<br /> ** hardware: [[Cortex]], [[iCubBrain]], [[iCub laptop]], [[Kinect]], [[pc104]], [[vislab8]] (NVIDIA Tesla GPGPU), [[OptiTrack]]<br /> ** software: '''[[iCub software]]''', [[iCub coding basics]], [[iCub machines configuration]], [[VisLab network]]<br /> ** misc: [[Acknowledgements for papers]]<br /> * [[Intelligent Robots and Systems Group]]<br /> ** robots: [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot], [[RAPOSA_robot | RAPOSA]], [[ISR Bioloid Humanoid|Bioloid]], [[ISR-CoBot]], [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]<br /> ** infrastructure: [[LRM Motion Capture System]]<br /> * [[Lisbon-K Chromosome Dataset]]<br /> * [[International conferences deadlines]]<br /> * [[Journals]]<br /> * [[Computer Vision Journals RSS feeds]]<br /> * European Projects: [[Recommendations for European Project Proposals]]<br /> * [[Introduction to ROS]]<br /> <br /> == Teaching ==<br /> <br /> * [[Robotics lab resources]]<br /> * [[Autonomous Systems resources]]<br /> * [[Discrete Event Dynamic Systems resources]]<br /> * [[Artificial Intelligence and Decision Systems resources]]<br /> <br /> == Events ==<br /> * [[High Performance Computing: tutorial on using Deucalion]]<br /> * [[Short course on ROS programming 2020]]<br /> * [[Ocupação Científica de Jovens nas Férias 2019]]<br /> * [[Ocupação Científica de Jovens nas Férias 2018]]<br /> * [http://irsgroup.isr.tecnico.ulisboa.pt/tutorial-on-integrating-classical-planning-and-mobile-service-robots-using-rosplan ICAPS 2018 Tutorial on Integrating Classical Planning and Mobile Service Robots using ROSPlan]<br /> * [[Ocupação Científica de Jovens nas Férias 2017]]<br /> * [[Ocupação Científica de Jovens nas Férias 2016]]<br /> * [[Ocupação Científica de Jovens nas Férias 2015]]<br /> * [[Ocupação Científica de Jovens nas Férias 2014]]<br /> * [[Ocupação Científica de Jovens nas Férias 2013]]<br /> * [[Summer course on ROS framework 2013]]<br /> * [[Ocupação Científica de Jovens nas Férias 2012]]<br /> * [[Ocupação Científica de Jovens nas Férias 2011]]<br /> * [[Ocupação Científica de Jovens nas Férias 2010]]<br /> * [http://vislab.isr.ist.utl.pt/RLSS09 RLSS09: Robot Learning Summer School]<br /> * [[Ocupação Científica de Jovens nas Férias 2009]]<br /> * [[Lisbon Workshop on New Challenges for Cooperative Robotics]]<br /> <br /> == Computing ==<br /> <br /> * [[ISR computing resources]]<br /> * [[SpaceBots cluster]]<br /> * [[Macintosh resources]] (incl. useful tips)<br /> * [[Python resources]]<br /> <br /> == Misc ==<br /> <br /> * [https://isr.tecnico.ulisboa.pt/intranet/ Administrative checklist] (login required) -- '''check here for all rules concerning purchases, conference trips, paper credits, etc.'''<br /> * [https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2022/10/Welcome-Doc-ISR-10.22.pdf Welcome Document ]<br /> * [https://drive.google.com/drive/folders/0BzXz6_-PMzYzZXNTeVFyMGdJS0E?resourcekey=0-bl3SKEbIAfQslVsPZfSWtg ISR logos]<br /> * [https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2023/02/ISR-Email-Signature.docx Email Signature]<br /> * [https://www.google.com/calendar/embed?src=isr.secretariado%40gmail.com&amp;ctz=Europe/Lisbon ISR meeting room calendar] (Contact the secretariat for booking)<br /> * [[List of restaurants]]<br /> * Use this [[SandBox]] for experimentation with MediaWiki</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Main_Page&diff=7234 2025-04-02T08:54:17Z

<p>Yoda: /* Misc */</p> <hr /> <div>&lt;big&gt;'''Welcome to the community wiki space of the [http://www.isr.ist.utl.pt Institute for Systems and Robotics].'''&lt;/big&gt;<br /> <br /> == About ==<br /> <br /> '''Institutional presentation of ISR: [[Media:ISR-Institutional-Presentation2019.pdf|download (PDF)]]'''<br /> <br /> == Research ==<br /> <br /> * bureaucracy: [[Prospective PhD students]]<br /> * [[Vislab | Computer and Robot Vision Lab (VisLab)]]<br /> ** robots: [[Chica]], [[Chico]], [[Chico head]], [[Darwin]], [[Nao]], [[Vizzy]]<br /> ** archive: [[iCub logbook]], [[VisLab Videos]], [[VisLab Proceedings]]<br /> ** datasets: [[Multiple View Tracking | Datasets with multiple views]], [http://vislab.isr.ist.utl.pt/hda-dataset/ HDA Dataset] ([[HDA dataset issues]])<br /> ** demos: [[Affordance imitation]], '''[[iCub instructions]]''', [[Cyberglove Remote Control]]<br /> ** hardware: [[Cortex]], [[iCubBrain]], [[iCub laptop]], [[Kinect]], [[pc104]], [[vislab8]] (NVIDIA Tesla GPGPU), [[OptiTrack]]<br /> ** software: '''[[iCub software]]''', [[iCub coding basics]], [[iCub machines configuration]], [[VisLab network]]<br /> ** misc: [[Acknowledgements for papers]]<br /> * [[Intelligent Robots and Systems Group]]<br /> ** robots: [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot], [[RAPOSA_robot | RAPOSA]], [[ISR Bioloid Humanoid|Bioloid]], [[ISR-CoBot]], [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]<br /> ** infrastructure: [[LRM Motion Capture System]]<br /> * [[Lisbon-K Chromosome Dataset]]<br /> * [[International conferences deadlines]]<br /> * [[Journals]]<br /> * [[Computer Vision Journals RSS feeds]]<br /> * European Projects: [[Recommendations for European Project Proposals]]<br /> * [[Introduction to ROS]]<br /> <br /> == Teaching ==<br /> <br /> * [[Robotics lab resources]]<br /> * [[Autonomous Systems resources]]<br /> * [[Discrete Event Dynamic Systems resources]]<br /> * [[Artificial Intelligence and Decision Systems resources]]<br /> <br /> == Events ==<br /> * [[Short course on ROS programming 2020]]<br /> * [[Ocupação Científica de Jovens nas Férias 2019]]<br /> * [[Ocupação Científica de Jovens nas Férias 2018]]<br /> * [http://irsgroup.isr.tecnico.ulisboa.pt/tutorial-on-integrating-classical-planning-and-mobile-service-robots-using-rosplan ICAPS 2018 Tutorial on Integrating Classical Planning and Mobile Service Robots using ROSPlan]<br /> * [[Ocupação Científica de Jovens nas Férias 2017]]<br /> * [[Ocupação Científica de Jovens nas Férias 2016]]<br /> * [[Ocupação Científica de Jovens nas Férias 2015]]<br /> * [[Ocupação Científica de Jovens nas Férias 2014]]<br /> * [[Ocupação Científica de Jovens nas Férias 2013]]<br /> * [[Summer course on ROS framework 2013]]<br /> * [[Ocupação Científica de Jovens nas Férias 2012]]<br /> * [[Ocupação Científica de Jovens nas Férias 2011]]<br /> * [[Ocupação Científica de Jovens nas Férias 2010]]<br /> * [http://vislab.isr.ist.utl.pt/RLSS09 RLSS09: Robot Learning Summer School]<br /> * [[Ocupação Científica de Jovens nas Férias 2009]]<br /> * [[Lisbon Workshop on New Challenges for Cooperative Robotics]]<br /> <br /> == Computing ==<br /> <br /> * [[ISR computing resources]]<br /> * [[SpaceBots cluster]]<br /> * [[Macintosh resources]] (incl. useful tips)<br /> * [[Python resources]]<br /> <br /> == Misc ==<br /> <br /> * [https://isr.tecnico.ulisboa.pt/intranet/ Administrative checklist] (login required) -- '''check here for all rules concerning purchases, conference trips, paper credits, etc.'''<br /> * [https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2022/10/Welcome-Doc-ISR-10.22.pdf Welcome Document ]<br /> * [https://drive.google.com/drive/folders/0BzXz6_-PMzYzZXNTeVFyMGdJS0E?resourcekey=0-bl3SKEbIAfQslVsPZfSWtg ISR logos]<br /> * [https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2023/02/ISR-Email-Signature.docx Email Signature]<br /> * [https://www.google.com/calendar/embed?src=isr.secretariado%40gmail.com&amp;ctz=Europe/Lisbon ISR meeting room calendar] (Contact the secretariat for booking)<br /> * [[List of restaurants]]<br /> * Use this [[SandBox]] for experimentation with MediaWiki</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Administrative_checklist&diff=7233 2025-04-02T08:53:40Z

<p>Yoda: </p> <hr /> <div>THIS PAGE IS OBSOLETE<br /> <br /> CHECK THE OFFICIAL ISR INTRANET PAGE HERE: https://isr.tecnico.ulisboa.pt/intranet/ (login required)<br /> <br /> == Affiliation ==<br /> <br /> It is strongly recommended to all researchers to create Google Scholar profiles with the complete affiliation:<br /> <br /> &lt;code&gt;Institute for Systems and Robotics (ISR/IST), LARSyS, Instituto Superior Técnico, Univ Lisboa&lt;/code&gt;<br /> <br /> == Funding acknowledgments ==<br /> <br /> '''(updated 10.01.2024)'''<br /> <br /> === ACTIVITIES FUNDED BY LARSyS (PLURIANNUAL) BUDGET (FCT rules) ===<br /> <br /> &lt;code&gt;If your work is partially or totally funded by one or more than one of LARSyS projects, you should acknowledge it as such:<br /> <br /> This work was supported by LARSyS FCT funding (DOI: 10.54499/LA/P/0083/2020, 10.54499/UIDP/50009/2020, and 10.54499/UIDB/50009/2020).<br /> <br /> <br /> FCT/ISR projects funding (for example)<br /> <br /> This work was supported by the FCT HAVATAR project (DOI: 10.54499/PTDC/EEI-ROB/1155/2020).<br /> <br /> <br /> IMPORTANT:<br /> The process of allocating DOIs to FCT funding began in September 2023 and will take place in a sustained and phased manner. When there is a DOI associated with your funding, a communication will be sent to the Principal Investigators (in the case of Projects) and to the beneficiaries (in the case of Grants and Stimulus to Scientific Employment/EEC).<br /> <br /> <br /> References:<br /> <br /> • FINANCIAMENTO BASE • UIDB/50009/2020 Use DOI: 10.54499/UIDB/50009/2020;<br /> • FINANCIAMENTO PROGRAMÁTICO • UIDP/50009/2020 Use DOI: 10.54499/UIDP/50009/2020;<br /> • FINANCIAMENTO COMPLEMENTAR AO LABORATÓRIO ASSOCIADO LARSYS • LA/P/0083/2020 Use DOI:10.54499/LA/P/0083/2020.<br /> <br /> === ACTIVITIES FUNDED BY FCT PROJECTS (FCT rules) ===<br /> <br /> &lt;code&gt;This work was supported by the FCT project [CONTRACT REFERENCE HERE]&lt;/code&gt;<br /> <br /> (example PTDC/EEA-CRO/111197/2009 MAST AM)<br /> <br /> === ACTIVITIES UNDER AN FCT GRANT (e.g. BII, PhD, Postdoc) ===<br /> <br /> example (replace grant reference)<br /> <br /> &lt;code&gt;Partially funded with grant SFRH/BD/0000/2006, from Fundação para a Ciência e a Tecnologia.&lt;/code&gt;<br /> <br /> === EU PROJECTS ===<br /> <br /> &lt;code&gt;This work was partially funded by EU Project ACRONYM&lt;/code&gt;<br /> <br /> Obviously if more than one funding source is involved, one needs to combine several of these references together.<br /> <br /> Example<br /> <br /> &lt;code&gt;This work was partially funded by LARSyS - FCT Project UIDB/50009/2020 and EU Project MYGOD&lt;/code&gt;<br /> <br /> Make sure to mention other funding institutions, if it applies (i.e ANI, IAPMEI (PRR)...)<br /> Note that the incorrect use of projects references or lack of information regarding the funding institutions may have consequences in the eligibility of any costs associated with publishing articles or any other scientific work.<br /> <br /> == For conference trips ==<br /> <br /> Must provide the following information items AT LEAST 15 DAYS BEFORE DEPARTURE:<br /> * Conference name, place, and URL<br /> * Final version of the paper to be presented, if any<br /> * Acceptance document (can be an email) or formal invitation<br /> * Trip dates (departure and arrival)<br /> * Airplane ticket cost (not needed if ticket reservation is done by them, which is the usual case)<br /> * Additional transportation expenses estimate, if any (e.g., taxi, train, etc.)<br /> * Whether ''ajudas de custo'' are at 100% or 70%<br /> ** 100% (=148,91EUR per day) means that it has to cover the hotel expenses, while 70% (of the previous amount) means that the hotel is paid separately<br /> ** if 70% is attributed it is also necessary to indicate the number of nights and nightly rate<br /> ** NOTE: according to regulations, hotel cannot be above three stars (exceptions are accepted as long as properly justified)<br /> * Conference registration cost (with proof document, e.g. invoice or printout of registration form)<br /> <br /> <br /> During the trip do not forget to:<br /> * keep the '''boarding passes''' for all airplane legs<br /> * bring an invoice/receipt of the conference registration, including the reference to IST VAT nr 501507930 or IST-ID VAT nr 509830072 somewhere (the address field is usually the best place)<br /> * bring a conference participation certificate<br /> * a confirmation of the number of stars of the hotel<br /> and send all these items to the ISR admin team after the return<br /> <br /> == Purchases ==<br /> <br /> Send to the ISR secretariat a proposal complying with the following rules:<br /> <br /> * FUNDING SOURCE: '''IST'''<br /> ** addressed to '''Instituto Superior Tecnico''' (adjust address as needed, for example adding: Av. Rovisco Pais 1, ISR - Torre Norte)<br /> ** containing VAT number: '''501507930'''<br /> ** containing a proposal reference number<br /> ** with and without IVA (VAT)<br /> ** validity of 66 days (if it is omitted it is assumed to be 66 days)<br /> ** containing the delivery date<br /> ** containing the payment conditions (at least 30 days)<br /> <br /> * FUNDING SOURCE: '''IST-ID'''<br /> ** addressed to '''IST-ID''' (adjust address as needed, for example adding: Av. António José de Almeida, n.º 12 1000-043 Lisboa<br /> ** containing VAT number: '''509830072'''<br /> ** containing a proposal reference number<br /> ** with and without IVA (VAT)<br /> ** validity of 66 days (optional; if it is omitted it is assumed to be 66 days)<br /> ** containing the delivery date<br /> ** containing the payment conditions (at least 30 days)<br /> <br /> <br /> There is a list of products (mostly office supplies) that *should* be bought via Economato's stock, not externally. The list of products can be found here: [http://nca.ist.utl.pt/files/Listagem-artigos-Economato-jan-2013.pdf Listagem-artigos-Economato-jan-2013.pdf]<br /> <br /> == Grants ==<br /> <br /> For requesting a grant, the following forms have to be filled-in and sent to the secretariat: '''B5''' and '''Minuta de edital'''.<br /> <br /> The Word templates for these (and other) forms can be found here: https://drh.tecnico.ulisboa.pt/bolseiros/formularios/<br /> <br /> == NIF Request ==<br /> To issue a Portuguese Tax Identification Number for various purposes, the International Affairs Area has, together with the Tax Authority and Técnico Lisboa's Legal Department, streamlined a mechanism that will make this process as easy as possible.<br /> <br /> Those interested will need to gather the following documentation:<br /> <br /> 1 - Students from the European Union:<br /> <br /> Power of attorney with powers of representation so that a third party can apply to the Tax and Customs Authority for a tax number. This power of attorney must have a notarized signature;<br /> A notarized copy of the identification document;<br /> Certificate of Registration as a Citizen of the European Union (Law no. 37/206 of August 9) or proof of residence in the country of origin;<br /> <br /> 2 - Students from countries outside the European Union:<br /> <br /> 2.1 - If considered resident in Portugal under the terms of Article 19(6) of the LGT and Article 16 of the CIRS:<br /> <br /> Power of attorney and identification document as described in no. 1;<br /> <br /> 2.2 - If they are not considered to be resident in Portugal:<br /> <br /> The power of attorney will have to include the appointment of a tax representative;<br /> And proof of residence from the country of origin will be required;<br /> <br /> [https://drive.google.com/drive/folders/1Y5l-dUiGrjmjYQmCba9eBA7DDw9wiU_d?usp=drive_link Here] you can access the drafts of the powers of attorney that must be used for these applications.<br /> <br /> To count on the support of the Tecnico Legal Department for the necessary signature recognition, the services must reply to this email indicating the applicant's name, nationality and email contact by the end of February 2024 (expected date).<br /> <br /> Subsequently, the applicant will be informed of the service, the place and time where they should go, and must be accompanied by the aforementioned documents. All documents, with the exception of those signed by Prof. Rogério Colaço, must only be signed when the signature is acknowledged in the presence of the lawyer. The files will remain in the lawyer's possession and will then be handed over to the International Affairs Department, which will then collect Professor Rogério Colaço's signature. Please ensure that the full text of the powers of attorney is not altered, otherwise, they will not be accepted by the Tax Authority. We would also like to inform you that you are responsible for checking the documents that make up each file, with the support of the research centre/area/department/unit. The International Affairs Area will only be the interlocutor in this process: it will receive the files in order to hand them over to the Tax Authority. Once the TIN has been assigned, the files follow the reverse route and are sent to the heads of the research unit/area/department.</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7232 2025-02-17T17:09:57Z

<p>Yoda: updated simon1 and simon2 specs</p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> Instances have by default an ephemeral filesystem mounted in /mnt, which access is faster than the main filesystem, but is destroyed when the instance is deleted.<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Profile: g3.small<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 555.42.06<br /> * Access to AFS<br /> <br /> ==== Simon2 ====<br /> <br /> * Hostname: simon2.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Profile: g3.large<br /> * Operating system: Ubuntu 22.04.5 LTS (jammy)<br /> * NVIDIA drivers: 555.42.06<br /> <br /> ==== Pluto1 ====<br /> <br /> * Hostname: pluto1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Profile: g3.small<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> ==== Piazza ====<br /> <br /> * Hostname: piazza.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rui Bettencourt<br /> * Profile: g3.small<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106 (TBC)<br /> <br /> ==== Rogue ====<br /> <br /> * Hostname: rogue.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Gonçalo Pais<br /> * Profile: g3.small<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106 (TBC)<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> * OpenAFS usage instructions:<br /> ** Authenticate using &quot;kinit &lt;istid&gt;@IST.UTL.PT&quot; (e.g., &quot;kinit ist12345@IST.UTL.PT&quot;)<br /> ** Authorize access to AFS using &quot;aklog&quot;<br /> * Remote desktop for Windows: https://wiki.x2go.org/doku.php<br /> * Allow password login: edit the file /etc/ssh/sshd_config and change the parameter PasswordAuthentication from no to yes<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7225 2024-02-06T10:56:19Z

<p>Yoda: /* Instances */</p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> Instances have by default an ephemeral filesystem mounted in /mnt, which access is faster than the main filesystem, but is destroyed when the instance is deleted.<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Profile: g3.small<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> * Access to AFS<br /> <br /> ==== Simon2 ====<br /> <br /> * Hostname: simon2.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Profile: g3.large<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> <br /> ==== Pluto1 ====<br /> <br /> * Hostname: pluto1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Profile: g3.small<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> ==== Piazza ====<br /> <br /> * Hostname: piazza.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rui Bettencourt<br /> * Profile: g3.small<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106 (TBC)<br /> <br /> ==== Rogue ====<br /> <br /> * Hostname: rogue.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Gonçalo Pais<br /> * Profile: g3.small<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106 (TBC)<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> * OpenAFS usage instructions:<br /> ** Authenticate using &quot;kinit &lt;istid&gt;@IST.UTL.PT&quot; (e.g., &quot;kinit ist12345@IST.UTL.PT&quot;)<br /> ** Authorize access to AFS using &quot;aklog&quot;<br /> * Remote desktop for Windows: https://wiki.x2go.org/doku.php<br /> * Allow password login: edit the file /etc/ssh/sshd_config and change the parameter PasswordAuthentication from no to yes<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7212 2023-06-26T12:42:11Z

<p>Yoda: /* Instances */</p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> Instances have by default an ephemeral filesystem mounted in /mnt, which access is faster than the main filesystem, but is destroyed when the instance is deleted.<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> * Access to AFS<br /> <br /> ==== Pluto1 ====<br /> <br /> * Hostname: pluto1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> ==== Piazza ====<br /> <br /> * Hostname: piazza.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rui Bettencourt<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106 (TBC)<br /> <br /> ==== Rogue ====<br /> <br /> * Hostname: rogue.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Gonçalo Pais<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106 (TBC)<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> * OpenAFS usage instructions:<br /> ** Authenticate using &quot;kinit &lt;istid&gt;@IST.UTL.PT&quot; (e.g., &quot;kinit ist12345@IST.UTL.PT&quot;)<br /> ** Authorize access to AFS using &quot;aklog&quot;<br /> * Remote desktop for Windows: https://wiki.x2go.org/doku.php<br /> * Allow password login: edit the file /etc/ssh/sshd_config and change the parameter PasswordAuthentication from no to yes<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7211 2023-06-05T22:04:35Z

<p>Yoda: /* Instances */</p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> Instances have by default an ephemeral filesystem mounted in /mnt, which access is faster than the main filesystem, but is destroyed when the instance is deleted.<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> * Access to AFS<br /> <br /> ==== Pluto1 ====<br /> <br /> * Hostname: pluto1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> ==== Piazza ====<br /> <br /> * Hostname: piazza.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rui Bettencourt<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106 (TBC)<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> * OpenAFS usage instructions:<br /> ** Authenticate using &quot;kinit &lt;istid&gt;@IST.UTL.PT&quot; (e.g., &quot;kinit ist12345@IST.UTL.PT&quot;)<br /> ** Authorize access to AFS using &quot;aklog&quot;<br /> * Remote desktop for Windows: https://wiki.x2go.org/doku.php<br /> * Allow password login: edit the file /etc/ssh/sshd_config and change the parameter PasswordAuthentication from no to yes<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7210 2023-05-31T16:04:02Z

<p>Yoda: </p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> Instances have by default an ephemeral filesystem mounted in /mnt, which access is faster than the main filesystem, but is destroyed when the instance is deleted.<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> * Access to AFS<br /> <br /> ==== Pluto1 ====<br /> <br /> * Hostname: pluto1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * (NVIDIA drivers: 460.106)<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> * OpenAFS usage instructions:<br /> ** Authenticate using &quot;kinit &lt;istid&gt;@IST.UTL.PT&quot; (e.g., &quot;kinit ist12345@IST.UTL.PT&quot;)<br /> ** Authorize access to AFS using &quot;aklog&quot;<br /> * Remote desktop for Windows: https://wiki.x2go.org/doku.php<br /> * Allow password login: edit the file /etc/ssh/sshd_config and change the parameter PasswordAuthentication from no to yes<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7208 2023-05-26T09:11:00Z

<p>Yoda: /* How-to */</p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> * Access to AFS<br /> <br /> ==== Pluto1 ====<br /> <br /> * Hostname: pluto1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * (NVIDIA drivers: 460.106)<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> * OpenAFS usage instructions:<br /> ** Authenticate using &quot;kinit &lt;istid&gt;@IST.UTL.PT&quot; (e.g., &quot;kinit ist12345@IST.UTL.PT&quot;)<br /> ** Authorize access to AFS using &quot;aklog&quot;<br /> * Remote desktop for Windows: https://wiki.x2go.org/doku.php<br /> * Allow password login: edit the file /etc/ssh/sshd_config and change the parameter PasswordAuthentication from no to yes<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7207 2023-05-26T08:51:40Z

<p>Yoda: /* Software */</p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> * Access to AFS<br /> <br /> ==== Pluto1 ====<br /> <br /> * Hostname: pluto1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * (NVIDIA drivers: 460.106)<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> * Remote desktop for Windows: https://wiki.x2go.org/doku.php<br /> * Allow password login: edit the file /etc/ssh/sshd_config and change the parameter PasswordAuthentication from no to yes<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7206 2023-05-25T11:37:05Z

<p>Yoda: </p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> ==== Pluto1 ====<br /> <br /> * Hostname: pluto1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * (NVIDIA drivers: 460.106)<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> * Remote desktop for Windows: https://wiki.x2go.org/doku.php<br /> * Allow password login: edit the file /etc/ssh/sshd_config and change the parameter PasswordAuthentication from no to yes<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7205 2023-05-25T09:53:14Z

<p>Yoda: </p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> ==== Pluto1 ====<br /> <br /> * Hostname: pluto1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * (NVIDIA drivers: 460.106)<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> * Remote desktop for Windows: https://wiki.x2go.org/doku.php<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7204 2023-05-25T09:39:08Z

<p>Yoda: /* Software */</p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> ==== Pluto1 ====<br /> <br /> * Hostname: pluto1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * (NVIDIA drivers: 460.106)<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7203 2023-05-25T09:24:23Z

<p>Yoda: </p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> ==== Africa1 ====<br /> <br /> * Hostname: africa1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Catarina Passarinho<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7202 2023-05-24T08:54:15Z

<p>Yoda: /* Contact */</p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura&lt;br/&gt;<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7201 2023-05-24T08:53:33Z

<p>Yoda: /* Contact */</p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura<br /> <br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7200 2023-05-24T08:53:20Z

<p>Yoda: </p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106<br /> <br /> == How-to ==<br /> <br /> * NVIDIA drivers installer (460.106): https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run<br /> * OpenAFS installation instructions: https://si.tecnico.ulisboa.pt/servicos/armazenamento-e-backup/armazenamento-afs/instalacao-e-configuracao-do-openafs-em-linux-e-mac-os/<br /> <br /> == Contact ==<br /> <br /> Rodrigo Ventura<br /> Email: rodrigo.ventura (AT) isr.tecnico.ulisboa.pt</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7199 2023-05-23T16:50:05Z

<p>Yoda: </p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Hostname: simon1.spacebots.tp.vps.tecnico.ulisboa.pt<br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106 (installer: https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run )</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SpaceBots_cluster&diff=7198 2023-05-23T16:48:51Z

<p>Yoda: Created page with &quot;== Hardware == This cluster comprises currently two servers installed at Taguspark campus with the following specs: * DELL PowerEdge R750XA Server * 2 x Intel® Xeon® Gold 6330 2GHz * 1TB RAM * 8 x 960GB SSD * 4 x NVIDIA Ampere A100 == Software == The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking. Link: https://vmcloud.tecnico.ulisboa.pt/ === Instances === ==== Simo...&quot;</p> <hr /> <div>== Hardware ==<br /> <br /> This cluster comprises currently two servers installed at Taguspark campus with the following specs:<br /> * DELL PowerEdge R750XA Server<br /> * 2 x Intel® Xeon® Gold 6330 2GHz<br /> * 1TB RAM<br /> * 8 x 960GB SSD<br /> * 4 x NVIDIA Ampere A100<br /> <br /> == Software ==<br /> <br /> The servers are accessible through an OpenStack interface, on top of which VM instances are created and managed, together with storage and networking.<br /> <br /> Link: https://vmcloud.tecnico.ulisboa.pt/<br /> <br /> === Instances ===<br /> <br /> ==== Simon1 ====<br /> <br /> * Contact point: Rodrigo Ventura<br /> * Operating system: Ubuntu 20.04.6 LTS (focal)<br /> * NVIDIA drivers: 460.106 (installer: https://us.download.nvidia.com/tesla/460.106.00/NVIDIA-Linux-x86_64-460.106.00.run )</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Main_Page&diff=7197 2023-05-23T16:37:33Z

<p>Yoda: </p> <hr /> <div>&lt;big&gt;'''Welcome to the community wiki space of the [http://www.isr.ist.utl.pt Institute for Systems and Robotics].'''&lt;/big&gt;<br /> <br /> == About ==<br /> <br /> '''Institutional presentation of ISR: [[Media:ISR-Institutional-Presentation2019.pdf|download (PDF)]]'''<br /> <br /> == Research ==<br /> <br /> * bureaucracy: [[Prospective PhD students]]<br /> * [[Vislab | Computer and Robot Vision Lab (VisLab)]]<br /> ** robots: [[Chica]], [[Chico]], [[Chico head]], [[Darwin]], [[Nao]], [[Vizzy]]<br /> ** archive: [[iCub logbook]], [[VisLab Videos]], [[VisLab Proceedings]]<br /> ** datasets: [[Multiple View Tracking | Datasets with multiple views]], [http://vislab.isr.ist.utl.pt/hda-dataset/ HDA Dataset] ([[HDA dataset issues]])<br /> ** demos: [[Affordance imitation]], '''[[iCub instructions]]''', [[Cyberglove Remote Control]]<br /> ** hardware: [[Cortex]], [[iCubBrain]], [[iCub laptop]], [[Kinect]], [[pc104]], [[vislab8]] (NVIDIA Tesla GPGPU), [[OptiTrack]]<br /> ** software: '''[[iCub software]]''', [[iCub coding basics]], [[iCub machines configuration]], [[VisLab network]]<br /> ** misc: [[Acknowledgements for papers]]<br /> * [[Intelligent Robots and Systems Group]]<br /> ** robots: [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot], [[RAPOSA_robot | RAPOSA]], [[ISR Bioloid Humanoid|Bioloid]], [[ISR-CoBot]], [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]<br /> ** infrastructure: [[LRM Motion Capture System]]<br /> * [[Lisbon-K Chromosome Dataset]]<br /> * [[International conferences deadlines]]<br /> * [[Journals]]<br /> * [[Computer Vision Journals RSS feeds]]<br /> * European Projects: [[Recommendations for European Project Proposals]]<br /> * [[Introduction to ROS]]<br /> <br /> == Teaching ==<br /> <br /> * [[Robotics lab resources]]<br /> * [[Autonomous Systems resources]]<br /> * [[Discrete Event Dynamic Systems resources]]<br /> * [[Artificial Intelligence and Decision Systems resources]]<br /> <br /> == Events ==<br /> * [[Short course on ROS programming 2020]]<br /> * [[Ocupação Científica de Jovens nas Férias 2019]]<br /> * [[Ocupação Científica de Jovens nas Férias 2018]]<br /> * [http://irsgroup.isr.tecnico.ulisboa.pt/tutorial-on-integrating-classical-planning-and-mobile-service-robots-using-rosplan ICAPS 2018 Tutorial on Integrating Classical Planning and Mobile Service Robots using ROSPlan]<br /> * [[Ocupação Científica de Jovens nas Férias 2017]]<br /> * [[Ocupação Científica de Jovens nas Férias 2016]]<br /> * [[Ocupação Científica de Jovens nas Férias 2015]]<br /> * [[Ocupação Científica de Jovens nas Férias 2014]]<br /> * [[Ocupação Científica de Jovens nas Férias 2013]]<br /> * [[Summer course on ROS framework 2013]]<br /> * [[Ocupação Científica de Jovens nas Férias 2012]]<br /> * [[Ocupação Científica de Jovens nas Férias 2011]]<br /> * [[Ocupação Científica de Jovens nas Férias 2010]]<br /> * [http://vislab.isr.ist.utl.pt/RLSS09 RLSS09: Robot Learning Summer School]<br /> * [[Ocupação Científica de Jovens nas Férias 2009]]<br /> * [[Lisbon Workshop on New Challenges for Cooperative Robotics]]<br /> <br /> == Computing ==<br /> <br /> * [[ISR computing resources]]<br /> * [[SpaceBots cluster]]<br /> * [[Macintosh resources]] (incl. useful tips)<br /> * [[Python resources]]<br /> <br /> == Misc ==<br /> <br /> * [[Administrative checklist]] (internal use only) -- '''check here for all rules concerning purchases, conference trips, paper credits, etc.'''<br /> * [https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2022/10/Welcome-Doc-ISR-10.22.pdf Welcome Document ]<br /> * [https://drive.google.com/drive/folders/0BzXz6_-PMzYzZXNTeVFyMGdJS0E?resourcekey=0-bl3SKEbIAfQslVsPZfSWtg ISR logos]<br /> * [https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2023/02/ISR-Email-Signature.docx Email Signature]<br /> * [https://www.google.com/calendar/embed?src=isr.secretariado%40gmail.com&amp;ctz=Europe/Lisbon ISR meeting room calendar] (Contact the secretariat for booking)<br /> * [[List of restaurants]]<br /> * Use this [[SandBox]] for experimentation with MediaWiki</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Introduction_to_ROS&diff=7196 2023-05-09T08:25:28Z

<p>Yoda: </p> <hr /> <div>NOTE: '''Check out the newer [[Short course on ROS programming 2020]]'''<br /> <br /> * '''Where''': ISR-Lisbon meeting room ([http://ist.utl.pt IST] campus, North Tower)<br /> * '''When''': Wednesday, 20-July-2011, at 15h30<br /> * '''Who''': [http://users.isr.ist.utl.pt/~yoda Rodrigo Ventura] and [http://users.isr.ist.utl.pt/~gsaponaro Giovanni Saponaro]<br /> <br /> == Abstract ==<br /> <br /> This talk provides a short introduction to ROS, focusing on the basic concepts fundamental to use ROS from a user perspective. Three basic concepts are introduced: Nodes, Topics, and Services. Then, the specification of message types is covered. The rest of the talk is dedicated to the operationalization of these concepts, covering the creation and management of packages, the programming of nodes that subscribe/publish to nodes and that call/serve services, and some useful command line tools. The Python language is used throughout the examples, although the use of C++ is not significantly different. Finally, some practical aspects, such as Java support, MATLAB binding, and some graphical tools are briefly described.<br /> <br /> == Slides ==<br /> <br /> * [[Media:Intro to ros.pdf|First part]]<br /> * [[Media:Ros giovanni.pdf|Second part]]</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Main_Page&diff=7195 2023-05-09T08:22:43Z

<p>Yoda: </p> <hr /> <div>&lt;big&gt;'''Welcome to the community wiki space of the [http://www.isr.ist.utl.pt Institute for Systems and Robotics].'''&lt;/big&gt;<br /> <br /> == About ==<br /> <br /> '''Institutional presentation of ISR: [[Media:ISR-Institutional-Presentation2019.pdf|download (PDF)]]'''<br /> <br /> == Research ==<br /> <br /> * bureaucracy: [[Prospective PhD students]]<br /> * [[Vislab | Computer and Robot Vision Lab (VisLab)]]<br /> ** robots: [[Chica]], [[Chico]], [[Chico head]], [[Darwin]], [[Nao]], [[Vizzy]]<br /> ** archive: [[iCub logbook]], [[VisLab Videos]], [[VisLab Proceedings]]<br /> ** datasets: [[Multiple View Tracking | Datasets with multiple views]], [http://vislab.isr.ist.utl.pt/hda-dataset/ HDA Dataset] ([[HDA dataset issues]])<br /> ** demos: [[Affordance imitation]], '''[[iCub instructions]]''', [[Cyberglove Remote Control]]<br /> ** hardware: [[Cortex]], [[iCubBrain]], [[iCub laptop]], [[Kinect]], [[pc104]], [[vislab8]] (NVIDIA Tesla GPGPU), [[OptiTrack]]<br /> ** software: '''[[iCub software]]''', [[iCub coding basics]], [[iCub machines configuration]], [[VisLab network]]<br /> ** misc: [[Acknowledgements for papers]]<br /> * [[Intelligent Robots and Systems Group]]<br /> ** robots: [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot], [[RAPOSA_robot | RAPOSA]], [[ISR Bioloid Humanoid|Bioloid]], [[ISR-CoBot]], [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]<br /> ** infrastructure: [[LRM Motion Capture System]]<br /> * [[Lisbon-K Chromosome Dataset]]<br /> * [[International conferences deadlines]]<br /> * [[Journals]]<br /> * [[Computer Vision Journals RSS feeds]]<br /> * European Projects: [[Recommendations for European Project Proposals]]<br /> * [[Introduction to ROS]]<br /> <br /> == Teaching ==<br /> <br /> * [[Robotics lab resources]]<br /> * [[Autonomous Systems resources]]<br /> * [[Discrete Event Dynamic Systems resources]]<br /> * [[Artificial Intelligence and Decision Systems resources]]<br /> <br /> == Events ==<br /> * [[Short course on ROS programming 2020]]<br /> * [[Ocupação Científica de Jovens nas Férias 2019]]<br /> * [[Ocupação Científica de Jovens nas Férias 2018]]<br /> * [http://irsgroup.isr.tecnico.ulisboa.pt/tutorial-on-integrating-classical-planning-and-mobile-service-robots-using-rosplan ICAPS 2018 Tutorial on Integrating Classical Planning and Mobile Service Robots using ROSPlan]<br /> * [[Ocupação Científica de Jovens nas Férias 2017]]<br /> * [[Ocupação Científica de Jovens nas Férias 2016]]<br /> * [[Ocupação Científica de Jovens nas Férias 2015]]<br /> * [[Ocupação Científica de Jovens nas Férias 2014]]<br /> * [[Ocupação Científica de Jovens nas Férias 2013]]<br /> * [[Summer course on ROS framework 2013]]<br /> * [[Ocupação Científica de Jovens nas Férias 2012]]<br /> * [[Ocupação Científica de Jovens nas Férias 2011]]<br /> * [[Ocupação Científica de Jovens nas Férias 2010]]<br /> * [http://vislab.isr.ist.utl.pt/RLSS09 RLSS09: Robot Learning Summer School]<br /> * [[Ocupação Científica de Jovens nas Férias 2009]]<br /> * [[Lisbon Workshop on New Challenges for Cooperative Robotics]]<br /> <br /> == Computing ==<br /> <br /> * [[ISR computing resources]]<br /> * [[Macintosh resources]] (incl. useful tips)<br /> * [[Python resources]]<br /> <br /> == Misc ==<br /> <br /> * [[Administrative checklist]] (internal use only) -- '''check here for all rules concerning purchases, conference trips, paper credits, etc.'''<br /> * [https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2022/10/Welcome-Doc-ISR-10.22.pdf Welcome Document ]<br /> * [https://drive.google.com/drive/folders/0BzXz6_-PMzYzZXNTeVFyMGdJS0E?resourcekey=0-bl3SKEbIAfQslVsPZfSWtg ISR logos]<br /> * [https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2023/02/ISR-Email-Signature.docx Email Signature]<br /> * [https://www.google.com/calendar/embed?src=isr.secretariado%40gmail.com&amp;ctz=Europe/Lisbon ISR meeting room calendar] (Contact the secretariat for booking)<br /> * [[List of restaurants]]<br /> * Use this [[SandBox]] for experimentation with MediaWiki</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Autonomous_Systems_resources&diff=7194 2023-05-03T21:22:53Z

<p>Yoda: /* Software and Miscellaneous */</p> <hr /> <div>== Robots ==<br /> <br /> === Real robots ===<br /> <br /> {| border=1<br /> &lt;!--<br /> | [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot<br /> * [[ScoutSoftware|instructions and software]]<br /> --&gt;<br /> |-<br /> | [[Image:Icon magabot.png|100px]] || IdMind Magabot<br /> * [http://magabot.cc/ product website]<br /> * [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]<br /> |-<br /> | [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX<br /> * [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]<br /> * [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]<br /> |-<br /> | [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT<br /> * [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]<br /> * [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]<br /> * [[Instructions]]<br /> |-<br /> | [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor<br /> * [[QuadSoftware|Instructions and Software]]<br /> * [http://wiki.ros.org/hector_quadrotor quad simulator]<br /> * [http://users.isr.ist.utl.pt/~pal/QuadSimulatorHokuyo.zip archive with files] to adapt hector_quadcopter code for ISR quads:<br /> ** quadrotor_hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_quadrotor_description/urdf.<br /> ** hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_sensors_description/urdf.<br /> &lt;!--<br /> |-<br /> | [[Image:Icon raposa-ng.png|100px]] || [[RAPOSA-NG]]<br /> * [[RaposaNgSoftware|instructions and software]]<br /> |-<br /> | [[Image:Icon rovio.png|100px]] || WoWee Rovio<br /> * [http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio product website]<br /> * [http://wiki.ros.org/rovio drivers for ROS]<br /> --&gt;<br /> |-<br /> | [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)<br /> * [[ScoutSoftwareStandalone|new instructions and software (standalone)]]<br /> * [[ScoutSoftware|old instructions and software using the internal motherboard]]<br /> <br /> &lt;!--<br /> |-<br /> | [[Image:Icon socrob.png|100px]] || SocRob omni<br /> * [[SocrobOmniSoftware|instructions and software]]<br /> --&gt;<br /> |-<br /> |}<br /> <br /> === Simulated robots ===<br /> <br /> {| border=1<br /> &lt;!--<br /> | [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot<br /> * [[ScoutSoftware|instructions and software]]<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic<br /> * Ubuntu 18.04 + ROS Melodic <br /> --&gt;<br /> |-<br /> | [[Image:Astrobee.png|100px]] || NASA Astrobee<br /> * https://github.com/nasa/astrobee <br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)<br /> |-<br /> | [[Image:Husky.png|100px]] || Clearpath Husky<br /> * http://wiki.ros.org/Robots/Husky<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic <br /> |-<br /> | [[Image:PX4drone.png|100px]] || PX4-based hexarotor<br /> * https://dev.px4.io/master/en/simulation/gazebo.html<br /> || Works in:<br /> * Ubuntu 18.04 + ROS Melodic (Suggested)<br /> |-<br /> | [[Image:UUVrobot.png|100px]] || UUVSimulator<br /> * https://uuvsimulator.github.io/<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic <br /> |-<br /> | [[Image:Mbot socrob.png|100px]] || SocRob@Home MBot<br /> * https://github.com/socrob/mbot_simulation_sa/<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> |-<br /> |}<br /> <br /> == Guide for good presentations ==<br /> * https://users.ece.cmu.edu/~pueschel/teaching/guides/guide-presentations.pdf<br /> <br /> == Bibliography for projects ==<br /> <br /> === General ===<br /> * [http://www.probabilistic-robotics.org/ Probabilistic Robotics - Sebastian Thrun et al]<br /> <br /> === on Gaussian PDFs ===<br /> * [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]<br /> <br /> === on Kalman Filter ===<br /> * [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]<br /> * [[Media:Derivation of the discrete-time Kalman filter.pdf|Derivation of the discrete-time Kalman filter - Rodrigo Ventura (2018)]]<br /> * [[Media:Indirect Kalman Filter for 3D Attitude Estimation.pdf|Indirect Kalman Filter for 3D Attitude Estimation]]<br /> <br /> === on particle filters ===<br /> * [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]<br /> <br /> === on mapping ===<br /> * [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]<br /> * [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]<br /> * [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]<br /> <br /> === on Monte Carlo localization (MCL) ===<br /> * [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]<br /> * [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]<br /> <br /> === on robust Monte Carlo localization === <br /> * [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]<br /> <br /> === on simultaneous localization and mapping (SLAM) ===<br /> * [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]<br /> * [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]<br /> * [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]<br /> * [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]<br /> * [[Media:The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures.pdf|The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures - Thrun (2006)]]<br /> * [[Media:A Tutorial on Graph-Based SLAM.pdf|A Tutorial on Graph-Based SLAM - Grisetti et al (2010)]]<br /> <br /> === on localization of the ITER vehicle ===<br /> * [[Media:Ferreira13.pdf|Vehicle localization system using offboard range sensor network - Ferreira et al (2013)]]<br /> * [[Media:Localization of cask and plug remote handling system in ITER using multiple video cameras.pdf|Localization of cask and plug remote handling system in ITER using multiple video cameras - Ferreira et al (2013)]]<br /> <br /> === on Petri net representation of robot tasks ===<br /> * [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]<br /> * [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]<br /> <br /> === on quadcopters ===<br /> * [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]<br /> <br /> === on cooperative teammate localization === <br /> * [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)]]<br /> * [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]<br /> * [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]<br /> <br /> === on cooperative perception and localization using shared objects === <br /> * [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]<br /> * [[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]]<br /> * [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)]<br /> &lt;!-- === on multiagent pollutant monitoring === <br /> * [[Media:Seco98a.pdf|A Society of Agents in Environmental Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]<br /> * [[Media:Seco98b.pdf|Multiagents and Pollutant Monitoring - Seco, Pinto-Ferreira, Correia (1998)]] --&gt;<br /> <br /> === on Wi-Fi localization ===<br /> * [https://rse-lab.cs.washington.edu/projects/mcl/postscripts/gp-localization-rss-06.pdf Gaussian Processes for Signal Strength-Based Location Estimation - Brian Ferris et al (2006)]<br /> * [http://repository.cmu.edu/cgi/viewcontent.cgi?article=3861&amp;context=compsci WiFi Localization and Navigation for Autonomous Indoor Mobile Robots - Biswas et al (2010)]<br /> <br /> === on magnetic field based localization ===<br /> * [[Media:Global indoor self-localization based on the ambient magnetic field.pdf|Global indoor self-localization based on the ambient magnetic field - Haverinen et al (2008)]]<br /> * [[Media:3-Axis Magnetic Field Mapping and Fusion for Indoor Localization.pdf|3-Axis Magnetic Field Mapping and Fusion for Indoor Localization - Le Grand et al (2012)]]<br /> <br /> === on Reinforcement Learning ===<br /> * [http://www.incompleteideas.net/sutton/book/the-book.html Reinforcement Learning: An Introduction - Sutton &amp; Barto (1998 + draft 2017)]<br /> <br /> === on geometric self-calibration ===<br /> * [[Media:Calibration of Laser Range Finders for Mobile Robot Localization in ITER.pdf|Calibration of Laser Range Finders for Mobile Robot Localization in ITER - Sousa et al (2015)]]<br /> <br /> == Software and Miscellaneous ==<br /> === Home Automation and Fusion projects ===<br /> <br /> Software and Hardware for [[ Home Automation ]]<br /> <br /> ==== IP Cams ====<br /> ===== Hardware =====<br /> * VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/<br /> * VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/<br /> * AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/<br /> <br /> ===== Software =====<br /> <br /> * GitHub repository of Autonomous Systems software: https://github.com/socrob/autonomous_systems<br /> <br /> 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.<br /> <br /> 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.<br /> <br /> Note that in order to acquire data from the cameras one need to be in the ISR network.<br /> <br /> === MS Kinect for XBOX RGBD cam ===<br /> * Freenect drivers: http://wiki.ros.org/freenect_stack<br /> <br /> === Laser Range Finders ===<br /> * Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers<br /> * 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]]<br /> <br /> &lt;!--<br /> === for IdMind modified Nomadic Scout robots ===<br /> * ROS drivers: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]<br /> --&gt;<br /> === for Pioneer P3-DX and P3-AT robots ===<br /> * Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]<br /> * MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]<br /> * Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]<br /> <br /> === Maps ===<br /> * Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)<br /> <br /> === Demo software ===<br /> * 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!<br /> * Example in ROS -- [https://github.com/MarceloJacinto/demo_ros github repository]<br /> <br /> === ROS ===<br /> * ROS: Robot Operating System http://www.ros.org<br /> * ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip<br /> <br /> === UWB devices ===<br /> * ROS drivers from MOnarCH project: https://github.com/socrob/autonomous_systems/tree/master/resources/drivers/monarch_uwb<br /> * [[Media:ReadMe UWB.pdf|FAQ]]</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Autonomous_Systems_resources&diff=7193 2023-05-03T18:48:51Z

<p>Yoda: </p> <hr /> <div>== Robots ==<br /> <br /> === Real robots ===<br /> <br /> {| border=1<br /> &lt;!--<br /> | [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot<br /> * [[ScoutSoftware|instructions and software]]<br /> --&gt;<br /> |-<br /> | [[Image:Icon magabot.png|100px]] || IdMind Magabot<br /> * [http://magabot.cc/ product website]<br /> * [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]<br /> |-<br /> | [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX<br /> * [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]<br /> * [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]<br /> |-<br /> | [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT<br /> * [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]<br /> * [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]<br /> * [[Instructions]]<br /> |-<br /> | [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor<br /> * [[QuadSoftware|Instructions and Software]]<br /> * [http://wiki.ros.org/hector_quadrotor quad simulator]<br /> * [http://users.isr.ist.utl.pt/~pal/QuadSimulatorHokuyo.zip archive with files] to adapt hector_quadcopter code for ISR quads:<br /> ** quadrotor_hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_quadrotor_description/urdf.<br /> ** hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_sensors_description/urdf.<br /> &lt;!--<br /> |-<br /> | [[Image:Icon raposa-ng.png|100px]] || [[RAPOSA-NG]]<br /> * [[RaposaNgSoftware|instructions and software]]<br /> |-<br /> | [[Image:Icon rovio.png|100px]] || WoWee Rovio<br /> * [http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio product website]<br /> * [http://wiki.ros.org/rovio drivers for ROS]<br /> --&gt;<br /> |-<br /> | [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)<br /> * [[ScoutSoftwareStandalone|new instructions and software (standalone)]]<br /> * [[ScoutSoftware|old instructions and software using the internal motherboard]]<br /> <br /> &lt;!--<br /> |-<br /> | [[Image:Icon socrob.png|100px]] || SocRob omni<br /> * [[SocrobOmniSoftware|instructions and software]]<br /> --&gt;<br /> |-<br /> |}<br /> <br /> === Simulated robots ===<br /> <br /> {| border=1<br /> &lt;!--<br /> | [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot<br /> * [[ScoutSoftware|instructions and software]]<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic<br /> * Ubuntu 18.04 + ROS Melodic <br /> --&gt;<br /> |-<br /> | [[Image:Astrobee.png|100px]] || NASA Astrobee<br /> * https://github.com/nasa/astrobee <br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)<br /> |-<br /> | [[Image:Husky.png|100px]] || Clearpath Husky<br /> * http://wiki.ros.org/Robots/Husky<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic <br /> |-<br /> | [[Image:PX4drone.png|100px]] || PX4-based hexarotor<br /> * https://dev.px4.io/master/en/simulation/gazebo.html<br /> || Works in:<br /> * Ubuntu 18.04 + ROS Melodic (Suggested)<br /> |-<br /> | [[Image:UUVrobot.png|100px]] || UUVSimulator<br /> * https://uuvsimulator.github.io/<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic <br /> |-<br /> | [[Image:Mbot socrob.png|100px]] || SocRob@Home MBot<br /> * https://github.com/socrob/mbot_simulation_sa/<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> |-<br /> |}<br /> <br /> == Guide for good presentations ==<br /> * https://users.ece.cmu.edu/~pueschel/teaching/guides/guide-presentations.pdf<br /> <br /> == Bibliography for projects ==<br /> <br /> === General ===<br /> * [http://www.probabilistic-robotics.org/ Probabilistic Robotics - Sebastian Thrun et al]<br /> <br /> === on Gaussian PDFs ===<br /> * [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]<br /> <br /> === on Kalman Filter ===<br /> * [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]<br /> * [[Media:Derivation of the discrete-time Kalman filter.pdf|Derivation of the discrete-time Kalman filter - Rodrigo Ventura (2018)]]<br /> * [[Media:Indirect Kalman Filter for 3D Attitude Estimation.pdf|Indirect Kalman Filter for 3D Attitude Estimation]]<br /> <br /> === on particle filters ===<br /> * [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]<br /> <br /> === on mapping ===<br /> * [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]<br /> * [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]<br /> * [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]<br /> <br /> === on Monte Carlo localization (MCL) ===<br /> * [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]<br /> * [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]<br /> <br /> === on robust Monte Carlo localization === <br /> * [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]<br /> <br /> === on simultaneous localization and mapping (SLAM) ===<br /> * [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]<br /> * [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]<br /> * [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]<br /> * [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]<br /> * [[Media:The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures.pdf|The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures - Thrun (2006)]]<br /> * [[Media:A Tutorial on Graph-Based SLAM.pdf|A Tutorial on Graph-Based SLAM - Grisetti et al (2010)]]<br /> <br /> === on localization of the ITER vehicle ===<br /> * [[Media:Ferreira13.pdf|Vehicle localization system using offboard range sensor network - Ferreira et al (2013)]]<br /> * [[Media:Localization of cask and plug remote handling system in ITER using multiple video cameras.pdf|Localization of cask and plug remote handling system in ITER using multiple video cameras - Ferreira et al (2013)]]<br /> <br /> === on Petri net representation of robot tasks ===<br /> * [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]<br /> * [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]<br /> <br /> === on quadcopters ===<br /> * [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]<br /> <br /> === on cooperative teammate localization === <br /> * [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)]]<br /> * [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]<br /> * [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]<br /> <br /> === on cooperative perception and localization using shared objects === <br /> * [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]<br /> * [[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]]<br /> * [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)]<br /> &lt;!-- === on multiagent pollutant monitoring === <br /> * [[Media:Seco98a.pdf|A Society of Agents in Environmental Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]<br /> * [[Media:Seco98b.pdf|Multiagents and Pollutant Monitoring - Seco, Pinto-Ferreira, Correia (1998)]] --&gt;<br /> <br /> === on Wi-Fi localization ===<br /> * [https://rse-lab.cs.washington.edu/projects/mcl/postscripts/gp-localization-rss-06.pdf Gaussian Processes for Signal Strength-Based Location Estimation - Brian Ferris et al (2006)]<br /> * [http://repository.cmu.edu/cgi/viewcontent.cgi?article=3861&amp;context=compsci WiFi Localization and Navigation for Autonomous Indoor Mobile Robots - Biswas et al (2010)]<br /> <br /> === on magnetic field based localization ===<br /> * [[Media:Global indoor self-localization based on the ambient magnetic field.pdf|Global indoor self-localization based on the ambient magnetic field - Haverinen et al (2008)]]<br /> * [[Media:3-Axis Magnetic Field Mapping and Fusion for Indoor Localization.pdf|3-Axis Magnetic Field Mapping and Fusion for Indoor Localization - Le Grand et al (2012)]]<br /> <br /> === on Reinforcement Learning ===<br /> * [http://www.incompleteideas.net/sutton/book/the-book.html Reinforcement Learning: An Introduction - Sutton &amp; Barto (1998 + draft 2017)]<br /> <br /> === on geometric self-calibration ===<br /> * [[Media:Calibration of Laser Range Finders for Mobile Robot Localization in ITER.pdf|Calibration of Laser Range Finders for Mobile Robot Localization in ITER - Sousa et al (2015)]]<br /> <br /> == Software and Miscellaneous ==<br /> === Home Automation and Fusion projects ===<br /> <br /> Software and Hardware for [[ Home Automation ]]<br /> <br /> ==== IP Cams ====<br /> ===== Hardware =====<br /> * VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/<br /> * VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/<br /> * AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/<br /> <br /> ===== Software =====<br /> <br /> * GitHub repository of Autonomous Systems software: https://github.com/socrob/autonomous_systems<br /> <br /> 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.<br /> <br /> 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.<br /> <br /> Note that in order to acquire data from the cameras one need to be in the ISR network.<br /> <br /> === MS Kinect for XBOX RGBD cam ===<br /> * Freenect drivers: http://wiki.ros.org/freenect_stack<br /> <br /> === Laser Range Finders ===<br /> * Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers<br /> * 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]]<br /> <br /> &lt;!--<br /> === for IdMind modified Nomadic Scout robots ===<br /> * ROS drivers: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]<br /> --&gt;<br /> === for Pioneer P3-DX and P3-AT robots ===<br /> * Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]<br /> * MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]<br /> * Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]<br /> <br /> === maps ===<br /> * Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)<br /> <br /> === demo software ===<br /> * 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!<br /> * Example in ROS -- [https://github.com/MarceloJacinto/demo_ros github repository]<br /> <br /> === ROS ===<br /> * ROS: Robot Operating System http://www.ros.org<br /> * ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip<br /> <br /> === UWB devices ===<br /> * ROS drivers from MOnarCH project: https://github.com/socrob/autonomous_systems/tree/master/resources/drivers/monarch_uwb<br /> * [[Media:ReadMe UWB.pdf|FAQ]]</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Autonomous_Systems_resources&diff=7192 2023-05-03T18:48:12Z

<p>Yoda: </p> <hr /> <div>== Robots ==<br /> <br /> === Real robots ===<br /> <br /> {| border=1<br /> &lt;!--<br /> | [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot<br /> * [[ScoutSoftware|instructions and software]]<br /> --&gt;<br /> |-<br /> | [[Image:Icon magabot.png|100px]] || IdMind Magabot<br /> * [http://magabot.cc/ product website]<br /> * [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]<br /> |-<br /> | [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX<br /> * [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]<br /> * [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]<br /> |-<br /> | [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT<br /> * [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]<br /> * [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]<br /> * [[Instructions]]<br /> |-<br /> | [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor<br /> * [[QuadSoftware|Instructions and Software]]<br /> * [http://wiki.ros.org/hector_quadrotor quad simulator]<br /> * [http://users.isr.ist.utl.pt/~pal/QuadSimulatorHokuyo.zip archive with files] to adapt hector_quadcopter code for ISR quads:<br /> ** quadrotor_hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_quadrotor_description/urdf.<br /> ** hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_sensors_description/urdf.<br /> &lt;!--<br /> |-<br /> | [[Image:Icon raposa-ng.png|100px]] || [[RAPOSA-NG]]<br /> * [[RaposaNgSoftware|instructions and software]]<br /> |-<br /> | [[Image:Icon rovio.png|100px]] || WoWee Rovio<br /> * [http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio product website]<br /> * [http://wiki.ros.org/rovio drivers for ROS]<br /> --&gt;<br /> |-<br /> | [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)<br /> * [[ScoutSoftwareStandalone|new instructions and software (standalone)]]<br /> * [[ScoutSoftware|old instructions and software using the internal motherboard]]<br /> <br /> &lt;!--<br /> |-<br /> | [[Image:Icon socrob.png|100px]] || SocRob omni<br /> * [[SocrobOmniSoftware|instructions and software]]<br /> --&gt;<br /> |-<br /> |}<br /> <br /> === Simulated robots ===<br /> <br /> {| border=1<br /> &lt;!--<br /> | [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot<br /> * [[ScoutSoftware|instructions and software]]<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic<br /> * Ubuntu 18.04 + ROS Melodic <br /> --&gt;<br /> |-<br /> | [[Image:Astrobee.png|100px]] || NASA Astrobee<br /> * https://github.com/nasa/astrobee <br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)<br /> |-<br /> | [[Image:Husky.png|100px]] || Clearpath Husky<br /> * http://wiki.ros.org/Robots/Husky<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic <br /> |-<br /> | [[Image:PX4drone.png|100px]] || PX4-based hexarotor<br /> * https://dev.px4.io/master/en/simulation/gazebo.html<br /> || Works in:<br /> * Ubuntu 18.04 + ROS Melodic (Suggested)<br /> |-<br /> | [[Image:UUVrobot.png|100px]] || UUVSimulator<br /> * https://uuvsimulator.github.io/<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic <br /> |-<br /> | [[Image:Mbot socrob.png|100px]] || SocRob@Home MBot<br /> * https://github.com/socrob/mbot_simulation_sa/<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> |-<br /> |}<br /> <br /> == Guide for good presentations ==<br /> * https://users.ece.cmu.edu/~pueschel/teaching/guides/guide-presentations.pdf<br /> <br /> == Bibliography for projects ==<br /> <br /> === General ===<br /> * [http://www.probabilistic-robotics.org/ Probabilistic Robotics - Sebastian Thrun et al]<br /> <br /> === on Gaussian PDFs ===<br /> * [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]<br /> <br /> === on Kalman Filter ===<br /> * [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]<br /> * [[Media:Derivation of the discrete-time Kalman filter.pdf|Derivation of the discrete-time Kalman filter - Rodrigo Ventura (2018)]]<br /> * [[Media:Indirect Kalman Filter for 3D Attitude Estimation.pdf|Indirect Kalman Filter for 3D Attitude Estimation]]<br /> <br /> === on particle filters ===<br /> * [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]<br /> <br /> === on mapping ===<br /> * [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]<br /> * [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]<br /> * [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]<br /> <br /> === on Monte Carlo localization (MCL) ===<br /> * [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]<br /> * [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]<br /> <br /> === on robust Monte Carlo localization === <br /> * [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]<br /> <br /> === on simultaneous localization and mapping (SLAM) ===<br /> * [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]<br /> * [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]<br /> * [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]<br /> * [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]<br /> * [[Media:The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures.pdf|The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures - Thrun (2006)]]<br /> * [[Media:A Tutorial on Graph-Based SLAM.pdf|A Tutorial on Graph-Based SLAM - Grisetti et al (2010)]]<br /> <br /> === on localization of the ITER vehicle ===<br /> * [[Media:Ferreira13.pdf|Vehicle localization system using offboard range sensor network - Ferreira et al (2013)]]<br /> * [[Media:Localization of cask and plug remote handling system in ITER using multiple video cameras.pdf|Localization of cask and plug remote handling system in ITER using multiple video cameras - Ferreira et al (2013)]]<br /> <br /> === on Petri net representation of robot tasks ===<br /> * [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]<br /> * [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]<br /> <br /> === on quadcopters ===<br /> * [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]<br /> <br /> === on cooperative teammate localization === <br /> * [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)]]<br /> * [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]<br /> * [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]<br /> <br /> === on cooperative perception and localization using shared objects === <br /> * [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]<br /> * [[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]]<br /> * [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)]<br /> &lt;!-- === on multiagent pollutant monitoring === <br /> * [[Media:Seco98a.pdf|A Society of Agents in Environmental Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]<br /> * [[Media:Seco98b.pdf|Multiagents and Pollutant Monitoring - Seco, Pinto-Ferreira, Correia (1998)]] --&gt;<br /> <br /> === on Wi-Fi localization ===<br /> * [https://rse-lab.cs.washington.edu/projects/mcl/postscripts/gp-localization-rss-06.pdf Gaussian Processes for Signal Strength-Based Location Estimation - Brian Ferris et al (2006)]<br /> * [http://repository.cmu.edu/cgi/viewcontent.cgi?article=3861&amp;context=compsci WiFi Localization and Navigation for Autonomous Indoor Mobile Robots - Biswas et al (2010)]<br /> <br /> === on magnetic field based localization ===<br /> * [[Media:Global indoor self-localization based on the ambient magnetic field.pdf|Global indoor self-localization based on the ambient magnetic field - Haverinen et al (2008)]]<br /> * [[Media:3-Axis Magnetic Field Mapping and Fusion for Indoor Localization.pdf|3-Axis Magnetic Field Mapping and Fusion for Indoor Localization - Le Grand et al (2012)]]<br /> <br /> === on Reinforcement Learning ===<br /> * [http://www.incompleteideas.net/sutton/book/the-book.html Reinforcement Learning: An Introduction - Sutton &amp; Barto (1998 + draft 2017)]<br /> <br /> === on geometric self-calibration ===<br /> * [[Media:Calibration of Laser Range Finders for Mobile Robot Localization in ITER.pdf|Calibration of Laser Range Finders for Mobile Robot Localization in ITER - Sousa et al (2015)]]<br /> <br /> == Software and Miscellaneous ==<br /> === Home Automation and Fusion projects ===<br /> <br /> Software and Hardware for [[ Home Automation ]]<br /> <br /> ==== IP Cams ====<br /> ===== Hardware =====<br /> * VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/<br /> * VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/<br /> * AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/<br /> <br /> ===== Software =====<br /> <br /> * GitHub repository of Autonomous Systems software: https://github.com/socrob/autonomous_systems<br /> <br /> 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.<br /> <br /> 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.<br /> <br /> Note that in order to acquire data from the cameras one need to be in the ISR network.<br /> <br /> === MS Kinect for XBOX RGBD cam ===<br /> * Freenect drivers: http://wiki.ros.org/freenect_stack<br /> <br /> === Laser Range Finders ===<br /> * Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers<br /> * 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]]<br /> <br /> &lt;!--<br /> === for IdMind modified Nomadic Scout robots ===<br /> * ROS drivers: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]<br /> --&gt;<br /> === for Pioneer P3-DX and P3-AT robots ===<br /> * Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]<br /> * MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]<br /> * Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]<br /> <br /> === maps ===<br /> * Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)<br /> <br /> === demo software ===<br /> * 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!<br /> * Example in ROS -- [https://github.com/MarceloJacinto/demo_ros]<br /> <br /> === ROS ===<br /> * ROS: Robot Operating System http://www.ros.org<br /> * ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip<br /> <br /> === UWB devices ===<br /> * ROS drivers from MOnarCH project: https://github.com/socrob/autonomous_systems/tree/master/resources/drivers/monarch_uwb<br /> * [[Media:ReadMe UWB.pdf|FAQ]]</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Main_Page&diff=7190 2023-04-14T07:00:08Z

<p>Yoda: </p> <hr /> <div>&lt;big&gt;'''Welcome to the community wiki space of the [http://www.isr.ist.utl.pt Institute for Systems and Robotics].'''&lt;/big&gt;<br /> <br /> == About ==<br /> <br /> '''Institutional presentation of ISR: [[Media:ISR-Institutional-Presentation2019.pdf|download (PDF)]]'''<br /> <br /> == Research ==<br /> <br /> * bureaucracy: [[Prospective PhD students]]<br /> * [[Vislab | Computer and Robot Vision Lab (VisLab)]]<br /> ** robots: [[Chica]], [[Chico]], [[Chico head]], [[Darwin]], [[Nao]], [[Vizzy]]<br /> ** archive: [[iCub logbook]], [[VisLab Videos]], [[VisLab Proceedings]]<br /> ** datasets: [[Multiple View Tracking | Datasets with multiple views]], [http://vislab.isr.ist.utl.pt/hda-dataset/ HDA Dataset] ([[HDA dataset issues]])<br /> ** demos: [[Affordance imitation]], '''[[iCub instructions]]''', [[Cyberglove Remote Control]]<br /> ** hardware: [[Cortex]], [[iCubBrain]], [[iCub laptop]], [[Kinect]], [[pc104]], [[vislab8]] (NVIDIA Tesla GPGPU), [[OptiTrack]]<br /> ** software: '''[[iCub software]]''', [[iCub coding basics]], [[iCub machines configuration]], [[VisLab network]]<br /> ** misc: [[Acknowledgements for papers]]<br /> * [[Intelligent Robots and Systems Group]]<br /> ** robots: [http://monarch-fp7.eu/description-robots/the-monarch-robots/ MBot], [[RAPOSA_robot | RAPOSA]], [[ISR Bioloid Humanoid|Bioloid]], [[ISR-CoBot]], [http://socrob.isr.ist.utl.pt/robots.php Soccer Robots]<br /> ** infrastructure: [[LRM Motion Capture System]]<br /> * [[Lisbon-K Chromosome Dataset]]<br /> * [[International conferences deadlines]]<br /> * [[Journals]]<br /> * [[Computer Vision Journals RSS feeds]]<br /> * European Projects: [[Recommendations for European Project Proposals]]<br /> * [[Introduction to ROS]]<br /> ** [http://ftp.isr.ist.utl.pt/pub/roswiki/ Local mirror of ROS wiki]<br /> <br /> == Teaching ==<br /> <br /> * [[Robotics lab resources]]<br /> * [[Autonomous Systems resources]]<br /> * [[Discrete Event Dynamic Systems resources]]<br /> * [[Artificial Intelligence and Decision Systems resources]]<br /> <br /> == Events ==<br /> * [[Short course on ROS programming 2020]]<br /> * [[Ocupação Científica de Jovens nas Férias 2019]]<br /> * [[Ocupação Científica de Jovens nas Férias 2018]]<br /> * [http://irsgroup.isr.tecnico.ulisboa.pt/tutorial-on-integrating-classical-planning-and-mobile-service-robots-using-rosplan ICAPS 2018 Tutorial on Integrating Classical Planning and Mobile Service Robots using ROSPlan]<br /> * [[Ocupação Científica de Jovens nas Férias 2017]]<br /> * [[Ocupação Científica de Jovens nas Férias 2016]]<br /> * [[Ocupação Científica de Jovens nas Férias 2015]]<br /> * [[Ocupação Científica de Jovens nas Férias 2014]]<br /> * [[Ocupação Científica de Jovens nas Férias 2013]]<br /> * [[Summer course on ROS framework 2013]]<br /> * [[Ocupação Científica de Jovens nas Férias 2012]]<br /> * [[Ocupação Científica de Jovens nas Férias 2011]]<br /> * [[Ocupação Científica de Jovens nas Férias 2010]]<br /> * [http://vislab.isr.ist.utl.pt/RLSS09 RLSS09: Robot Learning Summer School]<br /> * [[Ocupação Científica de Jovens nas Férias 2009]]<br /> * [[Lisbon Workshop on New Challenges for Cooperative Robotics]]<br /> <br /> == Computing ==<br /> <br /> * [[ISR computing resources]]<br /> * [[Macintosh resources]] (incl. useful tips)<br /> * [[Python resources]]<br /> <br /> == Misc ==<br /> <br /> * [[Administrative checklist]] (internal use only) -- '''check here for all rules concerning purchases, conference trips, paper credits, etc.'''<br /> * [https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2022/10/Welcome-Doc-ISR-10.22.pdf Welcome Document ]<br /> * [https://drive.google.com/drive/folders/0BzXz6_-PMzYzZXNTeVFyMGdJS0E?resourcekey=0-bl3SKEbIAfQslVsPZfSWtg ISR logos]<br /> * [https://welcome.isr.tecnico.ulisboa.pt/wp-content/uploads/2023/02/ISR-Email-Signature.docx Email Signature]<br /> * [https://www.google.com/calendar/embed?src=isr.secretariado%40gmail.com&amp;ctz=Europe/Lisbon ISR meeting room calendar] (Contact the secretariat for booking)<br /> * [[List of restaurants]]<br /> * Use this [[SandBox]] for experimentation with MediaWiki</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=SandBox&diff=7189 2023-04-13T22:45:15Z

<p>Yoda: /* delme */</p> <hr /> <div>[[From Bio-Inspired to Institutional-Inspired Collective Robotics]]<br /> <br /> <br /> sggf<br /> fgdss<br /> dfg<br /> dfgs<br /> sd<br /> f<br /> sg<br /> <br /> == ola ==<br /> <br /> <br /> &lt;math&gt;<br /> \begin{bmatrix}<br /> 1.0 &amp; 0.0 &amp; 0.0 &amp; 0.0\\<br /> 0.0 &amp; 0.0 &amp; -1.0 &amp; 0.0\\<br /> 0.0 &amp; 1.0 &amp; 0.0 &amp; 0.0\\<br /> 0.0 &amp; 0.0 &amp; 0.0 &amp; 1.0<br /> \end{bmatrix}<br /> &lt;/math&gt;<br /> <br /> == delme ==<br /> <br /> buu<br /> <br /> &lt;code&gt;<br /> mkdir scdtr<br /> <br /> vi .bashrc<br /> <br /> export ROS_PACKAGE_PATH=~/scdtr:$ROS_PACKAGE_PATH<br /> <br /> --<br /> <br /> sudo apt-get install ros-fuerte-rosserial<br /> <br /> sudo su alunos<br /> <br /> cd<br /> <br /> mkdir -p sketchbook/libraries<br /> <br /> cp -r /opt/ros/fuerte/stacks/rosserial/rosserial_arduino/libraries/ros_lib ~alunos/sketchbook/libraries/<br /> <br /> PATCH to sketchbook/libraries/ros_lib/ArduinoHardware.h:<br /> <br /> 38c<br /> <br /> #include &quot;Arduino.h&quot;<br /> <br /> .<br /> <br /> &lt;/code&gt;<br /> <br /> <br /> [[nova pagina mesmo]]</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Autonomous_Systems_resources&diff=7181 2023-01-02T16:01:48Z

<p>Yoda: /* Bibliography for projects */</p> <hr /> <div>== Robots ==<br /> <br /> === Real robots ===<br /> <br /> {| border=1<br /> &lt;!--<br /> | [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot<br /> * [[ScoutSoftware|instructions and software]]<br /> --&gt;<br /> |-<br /> | [[Image:Icon magabot.png|100px]] || IdMind Magabot<br /> * [http://magabot.cc/ product website]<br /> * [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]<br /> |-<br /> | [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX<br /> * [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]<br /> * [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]<br /> |-<br /> | [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT<br /> * [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]<br /> * [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]<br /> * [[Instructions]]<br /> |-<br /> | [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor<br /> * [[QuadSoftware|Instructions and Software]]<br /> * [http://wiki.ros.org/hector_quadrotor quad simulator]<br /> * [http://users.isr.ist.utl.pt/~pal/QuadSimulatorHokuyo.zip archive with files] to adapt hector_quadcopter code for ISR quads:<br /> ** quadrotor_hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_quadrotor_description/urdf.<br /> ** hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_sensors_description/urdf.<br /> &lt;!--<br /> |-<br /> | [[Image:Icon raposa-ng.png|100px]] || [[RAPOSA-NG]]<br /> * [[RaposaNgSoftware|instructions and software]]<br /> |-<br /> | [[Image:Icon rovio.png|100px]] || WoWee Rovio<br /> * [http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio product website]<br /> * [http://wiki.ros.org/rovio drivers for ROS]<br /> --&gt;<br /> |-<br /> | [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)<br /> * [[ScoutSoftwareStandalone|new instructions and software (standalone)]]<br /> * [[ScoutSoftware|old instructions and software using the internal motherboard]]<br /> <br /> &lt;!--<br /> |-<br /> | [[Image:Icon socrob.png|100px]] || SocRob omni<br /> * [[SocrobOmniSoftware|instructions and software]]<br /> --&gt;<br /> |-<br /> |}<br /> <br /> === Simulated robots ===<br /> <br /> {| border=1<br /> &lt;!--<br /> | [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot<br /> * [[ScoutSoftware|instructions and software]]<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic<br /> * Ubuntu 18.04 + ROS Melodic <br /> --&gt;<br /> |-<br /> | [[Image:Astrobee.png|100px]] || NASA Astrobee<br /> * https://github.com/nasa/astrobee <br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)<br /> |-<br /> | [[Image:Husky.png|100px]] || Clearpath Husky<br /> * http://wiki.ros.org/Robots/Husky<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic <br /> |-<br /> | [[Image:PX4drone.png|100px]] || PX4-based hexarotor<br /> * https://dev.px4.io/master/en/simulation/gazebo.html<br /> || Works in:<br /> * Ubuntu 18.04 + ROS Melodic (Suggested)<br /> |-<br /> | [[Image:UUVrobot.png|100px]] || UUVSimulator<br /> * https://uuvsimulator.github.io/<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic <br /> |-<br /> | [[Image:Mbot socrob.png|100px]] || SocRob@Home MBot<br /> * https://github.com/socrob/mbot_simulation_sa/<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> |-<br /> |}<br /> <br /> == Guide for good presentations ==<br /> * https://users.ece.cmu.edu/~pueschel/teaching/guides/guide-presentations.pdf<br /> <br /> == Bibliography for projects ==<br /> <br /> === General ===<br /> * [http://www.probabilistic-robotics.org/ Probabilistic Robotics - Sebastian Thrun et al]<br /> <br /> === on Gaussian PDFs ===<br /> * [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]<br /> <br /> === on Kalman Filter ===<br /> * [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]<br /> * [[Media:Derivation of the discrete-time Kalman filter.pdf|Derivation of the discrete-time Kalman filter - Rodrigo Ventura (2018)]]<br /> * [[Media:Indirect Kalman Filter for 3D Attitude Estimation.pdf|Indirect Kalman Filter for 3D Attitude Estimation]]<br /> <br /> === on particle filters ===<br /> * [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]<br /> <br /> === on mapping ===<br /> * [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]<br /> * [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]<br /> * [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]<br /> <br /> === on Monte Carlo localization (MCL) ===<br /> * [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]<br /> * [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]<br /> <br /> === on robust Monte Carlo localization === <br /> * [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]<br /> <br /> === on simultaneous localization and mapping (SLAM) ===<br /> * [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]<br /> * [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]<br /> * [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]<br /> * [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]<br /> * [[Media:The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures.pdf|The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures - Thrun (2006)]]<br /> * [[Media:A Tutorial on Graph-Based SLAM.pdf|A Tutorial on Graph-Based SLAM - Grisetti et al (2010)]]<br /> <br /> === on localization of the ITER vehicle ===<br /> * [[Media:Ferreira13.pdf|Vehicle localization system using offboard range sensor network - Ferreira et al (2013)]]<br /> * [[Media:Localization of cask and plug remote handling system in ITER using multiple video cameras.pdf|Localization of cask and plug remote handling system in ITER using multiple video cameras - Ferreira et al (2013)]]<br /> <br /> === on Petri net representation of robot tasks ===<br /> * [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]<br /> * [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]<br /> <br /> === on quadcopters ===<br /> * [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]<br /> <br /> === on cooperative teammate localization === <br /> * [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)]]<br /> * [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]<br /> * [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]<br /> <br /> === on cooperative perception and localization using shared objects === <br /> * [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]<br /> * [[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]]<br /> * [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)]<br /> &lt;!-- === on multiagent pollutant monitoring === <br /> * [[Media:Seco98a.pdf|A Society of Agents in Environmental Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]<br /> * [[Media:Seco98b.pdf|Multiagents and Pollutant Monitoring - Seco, Pinto-Ferreira, Correia (1998)]] --&gt;<br /> <br /> === on Wi-Fi localization ===<br /> * [https://rse-lab.cs.washington.edu/projects/mcl/postscripts/gp-localization-rss-06.pdf Gaussian Processes for Signal Strength-Based Location Estimation - Brian Ferris et al (2006)]<br /> * [http://repository.cmu.edu/cgi/viewcontent.cgi?article=3861&amp;context=compsci WiFi Localization and Navigation for Autonomous Indoor Mobile Robots - Biswas et al (2010)]<br /> <br /> === on magnetic field based localization ===<br /> * [[Media:Global indoor self-localization based on the ambient magnetic field.pdf|Global indoor self-localization based on the ambient magnetic field - Haverinen et al (2008)]]<br /> * [[Media:3-Axis Magnetic Field Mapping and Fusion for Indoor Localization.pdf|3-Axis Magnetic Field Mapping and Fusion for Indoor Localization - Le Grand et al (2012)]]<br /> <br /> === on Reinforcement Learning ===<br /> * [http://www.incompleteideas.net/sutton/book/the-book.html Reinforcement Learning: An Introduction - Sutton &amp; Barto (1998 + draft 2017)]<br /> <br /> === on geometric self-calibration ===<br /> * [[Media:Calibration of Laser Range Finders for Mobile Robot Localization in ITER.pdf|Calibration of Laser Range Finders for Mobile Robot Localization in ITER - Sousa et al (2015)]]<br /> <br /> == Software and Miscellaneous ==<br /> === Home Automation and Fusion projects ===<br /> <br /> Software and Hardware for [[ Home Automation ]]<br /> <br /> ==== IP Cams ====<br /> ===== Hardware =====<br /> * VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/<br /> * VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/<br /> * AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/<br /> <br /> ===== Software =====<br /> <br /> * GitHub repository of Autonomous Systems software: https://github.com/socrob/autonomous_systems<br /> <br /> 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.<br /> <br /> 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.<br /> <br /> Note that in order to acquire data from the cameras one need to be in the ISR network.<br /> <br /> === MS Kinect for XBOX RGBD cam ===<br /> * Freenect drivers: http://wiki.ros.org/freenect_stack<br /> <br /> === Laser Range Finders ===<br /> * Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers<br /> * 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]]<br /> <br /> &lt;!--<br /> === for IdMind modified Nomadic Scout robots ===<br /> * ROS drivers: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]<br /> --&gt;<br /> === for Pioneer P3-DX and P3-AT robots ===<br /> * Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]<br /> * MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]<br /> * Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]<br /> <br /> === maps ===<br /> * Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)<br /> <br /> === demo software ===<br /> * 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!<br /> <br /> === ROS ===<br /> * ROS: Robot Operating System http://www.ros.org<br /> * ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip<br /> <br /> === UWB devices ===<br /> * ROS drivers from MOnarCH project: https://github.com/socrob/autonomous_systems/tree/master/resources/drivers/monarch_uwb<br /> * [[Media:ReadMe UWB.pdf|FAQ]]</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=File:Derivation_of_the_discrete-time_Kalman_filter.pdf&diff=7180 2023-01-02T16:01:33Z

<p>Yoda: uploaded a new version of &amp;quot;File:Derivation of the discrete-time Kalman filter.pdf&amp;quot;</p> <hr /> <div>Derivation of the discrete-time Kalman filter<br /> Rodrigo Ventura<br /> Instituto Superior Técnico<br /> Working draft (updated at September 2017)</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Unable_to_ssh_to_omni&diff=7179 2022-12-07T11:06:29Z

<p>Yoda: Created page with &quot;Add the following lines to either /etc/ssh/ssh_config or ~/.ssh/config: HostkeyAlgorithms +ssh-rsa PubkeyAcceptedAlgorithms +ssh-rsa&quot;</p> <hr /> <div>Add the following lines to either /etc/ssh/ssh_config or ~/.ssh/config:<br /> HostkeyAlgorithms +ssh-rsa<br /> PubkeyAcceptedAlgorithms +ssh-rsa</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=ISR_computing_resources&diff=7178 2022-12-07T11:02:47Z

<p>Yoda: /* F.A.Q. section */</p> <hr /> <div>== Important information ==<br /> <br /> To create an account, please print and fill in [[Media:User-form.pdf|this PDF form]] and deliver it to the ISR secretariat (7th floor).<br /> <br /> The support email contact for the ISR is the following: '''sysadmin''' (at) '''isr.ist.utl.pt'''<br /> <br /> == Available services ==<br /> <br /> The ISR computer center provides the following services to all ISR users.<br /> <br /> * '''Mail''': mailboxes for incoming mail, accessible via IMAP, POP3, and [http://webmail.isr.ist.utl.pt/ Webmail], all secured with SSL (Cyrus IMAP), and authenticated outgoing mail (Sendmail)<br /> ** [[Mail client configuration]]<br /> ** [https://webmail.isr.ist.utl.pt New webmail interface] -- recommended option<br /> ** [https://omni.isr.ist.utl.pt/oldwebmail Old webmail interface] -- use it to change your mail password<br /> * '''UNIX accounts''': shell accounts in a Linux server, accessible via SSH protocol, including hosting of personal pages. All accounts are daily backed-up (see below)<br /> ** [[Login instructions]]<br /> * '''Mailing lists''': besides the usual mail alias mechanism, hosting of mailing lists including public/private archives and web administration interface (Mailman software). [http://omni.isr.ist.utl.pt/mailman/listinfo Hosted mailing lists]<br /> * '''Mail filtering''': web interface to edit rules for mail filtering, including ability too discard or move to specific folders, based on pattern matching rules (Sieve). HOWTO: login into [https://webmail.isr.ist.utl.pt webmail], select Mail, and then FIlters.<br /> * '''Other services''': SVN, MySQL, FTP mirror<br /> <br /> See next section for configuration details.<br /> <br /> == Configuration instructions ==<br /> <br /> === Local wired network access ===<br /> <br /> The wired network is fully open and automatic IP addresses is supported (DHCP).<br /> <br /> However, fixed IPs can be registered (contact sysadmin@isr.ist.utl.pt for that) and the configuration is:<br /> <br /> {|<br /> |-<br /> |align=&quot;right&quot;| Address || = || ''(assigned by systems administration)''<br /> |-<br /> |align=&quot;right&quot;| Network || = || 10.0.0.0<br /> |-<br /> |align=&quot;right&quot;| Broadcast || = || 10.0.255.255<br /> |-<br /> |align=&quot;right&quot;| Netmask || = || 255.255.0.0<br /> |-<br /> |align=&quot;right&quot;| Gateway || = || 10.0.0.254<br /> |-<br /> |align=&quot;right&quot;| DNS Domain || = || isrnet<br /> |-<br /> |align=&quot;right&quot;| DNS servers || = || 10.0.0.1, 10.0.0.2<br /> |-<br /> |align=&quot;right&quot;| DNS search order || = || isrnet, isrwifi, isr.ist.utl.pt<br /> |}<br /> <br /> === IPv6 configuration (upon request) ===<br /> <br /> {|<br /> |-<br /> |align=&quot;right&quot;| Address || = || ''(assigned by systems administration)''<br /> |-<br /> |align=&quot;right&quot;| Prefix Length || = || 96<br /> |-<br /> |align=&quot;right&quot;| Gateway || = || 2001:690:2100:412::fffe<br /> |-<br /> |align=&quot;right&quot;| DNS Domain || = || ipv6.isr.ist.utl.pt<br /> |}<br /> <br /> === Wireless network ===<br /> <br /> Access to the ISR wireless network requires a one-time registration per machine. The SSID of the network is '''ISR'''.<br /> <br /> Registration instructions:<br /> <br /> # select the ISR wireless network<br /> # if a login pages does not automatically appear, go to any web page using a web browser and a login page should appear<br /> # at the login page use your ISR email credentials<br /> # (optional) fill in an identification of the machine in the &quot;Optional observation&quot; field and click on the REGISTER button<br /> # you are now registered with full access to the Internet; you can now click Logout<br /> <br /> The network is fully open and automatic IP addresses is supported (DHCP). However, fixed IPs can be registered (contact sysadmin@isr.ist.utl.pt for that) and the configuration is:<br /> <br /> {|<br /> |-<br /> |align=&quot;right&quot;| Address || = || ''(assigned by systems administration)''<br /> |-<br /> |align=&quot;right&quot;| Network || = || 10.1.0.0<br /> |-<br /> |align=&quot;right&quot;| Broadcast || = || 10.1.255.255<br /> |-<br /> |align=&quot;right&quot;| Netmask || = || 255.255.0.0<br /> |-<br /> |align=&quot;right&quot;| Gateway || = || 10.1.0.254<br /> |-<br /> |align=&quot;right&quot;| DNS Domain || = || isrwifi<br /> |-<br /> |align=&quot;right&quot;| DNS servers || = || 10.0.0.1, 10.0.0.2<br /> |-<br /> |align=&quot;right&quot;| DNS search order || = || isrwifi, isrnet, isr.ist.utl.pt<br /> |}<br /> <br /> == Available campus licenses ==<br /> <br /> Please check [http://ciist.ist.utl.pt CIIST pages] for further information.<br /> <br /> == HOW-TO section ==<br /> <br /> * [[How to change the passwords]]<br /> * [[How to install a network printer]]<br /> * [[How to set duplex printing as default]]<br /> * [[How to install the Xerox WorkCentre 5222 in Linux]]<br /> * [[How to create a personal web page]]<br /> * [[How to protect personal web pages with a password]]<br /> * [[How to install (and update) SuSE Linux]] (via network, from ISR mirror)<br /> * [[How to add the ISR address book]]<br /> * [[How to install a printer via a CUPS server]] (this procedure applies to all printers/servers using the LPD protocol)<br /> * [[How to access your desktop computer from outside ISR]]<br /> * [[How to forward all ISR mail to another account]]<br /> * [[How to configure a &quot;out of the office&quot; automated message]]<br /> * [[How to transfer address book from the former to the new webmail platform]]<br /> * [[How to edit SVN configuration files]]<br /> * [[How to use authenticated proxy]]<br /> * [[How to automatically include a list of your publications from the ISR database into a web page]]<br /> <br /> == F.A.Q. section ==<br /> <br /> * [[How to specify IMAP protocol under Windows™?]]<br /> * [[Can you recommend a user-friendly FTP/SSH software?]]<br /> * [[Does omni provide a SAMBA service?]]<br /> * [[Unable to send emails using Thunderbird]]<br /> * [[Unable to ssh to omni]]<br /> <br /> == Information ==<br /> <br /> This section contains miscelaneous reference information regarding ISR network.<br /> <br /> * [[IP allocation]]</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Autonomous_Systems_resources&diff=7173 2022-05-18T07:20:22Z

<p>Yoda: </p> <hr /> <div>== Robots ==<br /> <br /> === Real robots ===<br /> <br /> {| border=1<br /> &lt;!--<br /> | [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot<br /> * [[ScoutSoftware|instructions and software]]<br /> --&gt;<br /> |-<br /> | [[Image:Icon magabot.png|100px]] || IdMind Magabot<br /> * [http://magabot.cc/ product website]<br /> * [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]<br /> |-<br /> | [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX<br /> * [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]<br /> * [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]<br /> |-<br /> | [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT<br /> * [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]<br /> * [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]<br /> * [[Instructions]]<br /> |-<br /> | [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor<br /> * [[QuadSoftware|Instructions and Software]]<br /> * [http://wiki.ros.org/hector_quadrotor quad simulator]<br /> * [http://users.isr.ist.utl.pt/~pal/QuadSimulatorHokuyo.zip archive with files] to adapt hector_quadcopter code for ISR quads:<br /> ** quadrotor_hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_quadrotor_description/urdf.<br /> ** hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_sensors_description/urdf.<br /> &lt;!--<br /> |-<br /> | [[Image:Icon raposa-ng.png|100px]] || [[RAPOSA-NG]]<br /> * [[RaposaNgSoftware|instructions and software]]<br /> |-<br /> | [[Image:Icon rovio.png|100px]] || WoWee Rovio<br /> * [http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio product website]<br /> * [http://wiki.ros.org/rovio drivers for ROS]<br /> --&gt;<br /> |-<br /> | [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)<br /> * [[ScoutSoftwareStandalone|new instructions and software (standalone)]]<br /> * [[ScoutSoftware|old instructions and software using the internal motherboard]]<br /> <br /> &lt;!--<br /> |-<br /> | [[Image:Icon socrob.png|100px]] || SocRob omni<br /> * [[SocrobOmniSoftware|instructions and software]]<br /> --&gt;<br /> |-<br /> |}<br /> <br /> === Simulated robots ===<br /> <br /> {| border=1<br /> &lt;!--<br /> | [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot<br /> * [[ScoutSoftware|instructions and software]]<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic<br /> * Ubuntu 18.04 + ROS Melodic <br /> --&gt;<br /> |-<br /> | [[Image:Astrobee.png|100px]] || NASA Astrobee<br /> * https://github.com/nasa/astrobee <br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)<br /> |-<br /> | [[Image:Husky.png|100px]] || Clearpath Husky<br /> * http://wiki.ros.org/Robots/Husky<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic <br /> |-<br /> | [[Image:PX4drone.png|100px]] || PX4-based hexarotor<br /> * https://dev.px4.io/master/en/simulation/gazebo.html<br /> || Works in:<br /> * Ubuntu 18.04 + ROS Melodic (Suggested)<br /> |-<br /> | [[Image:UUVrobot.png|100px]] || UUVSimulator<br /> * https://uuvsimulator.github.io/<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> * Ubuntu 18.04 + ROS Melodic <br /> |-<br /> | [[Image:Mbot socrob.png|100px]] || SocRob@Home MBot<br /> * https://github.com/socrob/mbot_simulation_sa/<br /> || Works in:<br /> * Ubuntu 16.04 + ROS Kinetic (Suggested)<br /> |-<br /> |}<br /> <br /> == Guide for good presentations ==<br /> * https://users.ece.cmu.edu/~pueschel/teaching/guides/guide-presentations.pdf<br /> <br /> == Bibliography for projects ==<br /> <br /> === General ===<br /> * [http://www.probabilistic-robotics.org/ Probabilistic Robotics - Sebastian Thrun et al]<br /> <br /> === on Gaussian PDFs ===<br /> * [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]<br /> <br /> === on Kalman Filter ===<br /> * [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]<br /> * [[Media:Derivation of the discrete-time Kalman filter.pdf|Derivation of the discrete-time Kalman filter - Rodrigo Ventura (2017)]]<br /> * [[Media:Indirect Kalman Filter for 3D Attitude Estimation.pdf|Indirect Kalman Filter for 3D Attitude Estimation]]<br /> <br /> === on particle filters ===<br /> * [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]<br /> <br /> === on mapping ===<br /> * [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]<br /> * [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]<br /> * [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]<br /> <br /> === on Monte Carlo localization (MCL) ===<br /> * [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]<br /> * [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]<br /> <br /> === on robust Monte Carlo localization === <br /> * [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]<br /> <br /> === on simultaneous localization and mapping (SLAM) ===<br /> * [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]<br /> * [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]<br /> * [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]<br /> * [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]<br /> * [[Media:The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures.pdf|The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures - Thrun (2006)]]<br /> * [[Media:A Tutorial on Graph-Based SLAM.pdf|A Tutorial on Graph-Based SLAM - Grisetti et al (2010)]]<br /> <br /> === on localization of the ITER vehicle ===<br /> * [[Media:Ferreira13.pdf|Vehicle localization system using offboard range sensor network - Ferreira et al (2013)]]<br /> * [[Media:Localization of cask and plug remote handling system in ITER using multiple video cameras.pdf|Localization of cask and plug remote handling system in ITER using multiple video cameras - Ferreira et al (2013)]]<br /> <br /> === on Petri net representation of robot tasks ===<br /> * [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]<br /> * [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]<br /> <br /> === on quadcopters ===<br /> * [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]<br /> <br /> === on cooperative teammate localization === <br /> * [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)]]<br /> * [[Media:TRO_08-2D-distances.pdf|Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)]]<br /> * [[Media:Multi-mcl-journal-00-large.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]<br /> <br /> === on cooperative perception and localization using shared objects === <br /> * [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]<br /> * [[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]]<br /> * [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)]<br /> &lt;!-- === on multiagent pollutant monitoring === <br /> * [[Media:Seco98a.pdf|A Society of Agents in Environmental Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]<br /> * [[Media:Seco98b.pdf|Multiagents and Pollutant Monitoring - Seco, Pinto-Ferreira, Correia (1998)]] --&gt;<br /> <br /> === on Wi-Fi localization ===<br /> * [https://rse-lab.cs.washington.edu/projects/mcl/postscripts/gp-localization-rss-06.pdf Gaussian Processes for Signal Strength-Based Location Estimation - Brian Ferris et al (2006)]<br /> * [http://repository.cmu.edu/cgi/viewcontent.cgi?article=3861&amp;context=compsci WiFi Localization and Navigation for Autonomous Indoor Mobile Robots - Biswas et al (2010)]<br /> <br /> === on magnetic field based localization ===<br /> * [[Media:Global indoor self-localization based on the ambient magnetic field.pdf|Global indoor self-localization based on the ambient magnetic field - Haverinen et al (2008)]]<br /> * [[Media:3-Axis Magnetic Field Mapping and Fusion for Indoor Localization.pdf|3-Axis Magnetic Field Mapping and Fusion for Indoor Localization - Le Grand et al (2012)]]<br /> <br /> === on Reinforcement Learning ===<br /> * [http://www.incompleteideas.net/sutton/book/the-book.html Reinforcement Learning: An Introduction - Sutton &amp; Barto (1998 + draft 2017)]<br /> <br /> === on geometric self-calibration ===<br /> * [[Media:Calibration of Laser Range Finders for Mobile Robot Localization in ITER.pdf|Calibration of Laser Range Finders for Mobile Robot Localization in ITER - Sousa et al (2015)]]<br /> <br /> == Software and Miscellaneous ==<br /> === Home Automation and Fusion projects ===<br /> <br /> Software and Hardware for [[ Home Automation ]]<br /> <br /> ==== IP Cams ====<br /> ===== Hardware =====<br /> * VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/<br /> * VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/<br /> * AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/<br /> <br /> ===== Software =====<br /> <br /> * GitHub repository of Autonomous Systems software: https://github.com/socrob/autonomous_systems<br /> <br /> 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.<br /> <br /> 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.<br /> <br /> Note that in order to acquire data from the cameras one need to be in the ISR network.<br /> <br /> === MS Kinect for XBOX RGBD cam ===<br /> * Freenect drivers: http://wiki.ros.org/freenect_stack<br /> <br /> === Laser Range Finders ===<br /> * Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers<br /> * 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]]<br /> <br /> &lt;!--<br /> === for IdMind modified Nomadic Scout robots ===<br /> * ROS drivers: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]<br /> --&gt;<br /> === for Pioneer P3-DX and P3-AT robots ===<br /> * Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]<br /> * MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]<br /> * Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]<br /> <br /> === maps ===<br /> * Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)<br /> <br /> === demo software ===<br /> * 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!<br /> <br /> === ROS ===<br /> * ROS: Robot Operating System http://www.ros.org<br /> * ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip<br /> <br /> === UWB devices ===<br /> * ROS drivers from MOnarCH project: https://github.com/socrob/autonomous_systems/tree/master/resources/drivers/monarch_uwb<br /> * [[Media:ReadMe UWB.pdf|FAQ]]</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=IP_allocation&diff=7172 2022-02-16T10:00:22Z

<p>Yoda: </p> <hr /> <div>== Public IPv4 allocation ==<br /> <br /> * ISR allocated subnet: '''193.136.138.0/25''' (0|1-126|127, 7 bits)<br /> ** '''193.136.138.0/26''' (0|1-62|63, 6 bits) for DMZ<br /> ** '''193.136.138.96/28''' (96|97-110|111, 4 bits) available (was reserved for jseq)<br /> ** '''193.136.138.112/28''' (112|113-126|127, 4 bits) reserved for port forwarding<br /> <br /> == Private IPv4 allocation ==<br /> <br /> * ISR uses private class A '''10.0.0.0/8'''<br /> ** '''10.0.0.0/16''' for the internal IP network; they take the informal format ''10.0.n.-'' where ''n'' stands for: 0=network, 1=direction, 2+5+6=IRSg, 3=VisLab, 4=LaSEEB (unused), 7=SIPG, 8=DSOR, 9=AG, 10=visitors, 11=access control, 12=IP cameras (unused), 13=jmrs cameras, 20-29=DHCP<br /> ** '''10.1.0.0/16''' for wireless access (ISR)<br /> ** '''10.10.1.0/24''' for the VisNet (Vislab cluster)<br /> ** '''10.10.2.0/24''' for the CamNet (IP cameras)<br /> ** '''10.10.3.0/24''' for the Network management<br /> ** '''10.10.4.0/24''' for the OpenVPN dynamic addresses<br /> ** '''10.10.5.0/24''' for point-to-point interconnects:<br /> *** 10.10.5.0/30 for sumo-soma<br /> *** 10.10.5.4/30 for sumo-servo<br /> *** 10.10.5.8/30 ...<br /> *** 10.10.5.12/30 ...<br /> ** '''10.10.6.0/24''' for the OpenVPN static addresses<br /> <br /> * The SocRob team uses the RoboCup allocated wireless network '''172.16.46.0/24'''<br /> <br /> == Public IPv6 allocation ==<br /> <br /> The ISR has native IPv6 connectivity.<br /> <br /> * Allocated prefix: '''2001:690:2100:410::/60'''<br /> ** '''2001:690:2100:411::/112''' for DMZ<br /> ** '''2001:690:2100:412::/96''' for the internal network (manually assigned)<br /> ** '''2001:690:2100:413::/64''' for the internal network (auto-addressing)</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=IP_allocation&diff=7168 2021-02-09T08:14:19Z

<p>Yoda: /* Private IPv4 allocation */</p> <hr /> <div>== Public IPv4 allocation ==<br /> <br /> * ISR allocated subnet: '''193.136.138.0/25''' (0|1-126|127, 7 bits)<br /> ** '''193.136.138.0/26''' (0|1-62|63, 6 bits) for DMZ<br /> ** '''193.136.138.96/28''' (96|97-110|111, 4 bits) reserved for jseq<br /> ** '''193.136.138.112/28''' (112|113-126|127, 4 bits) reserved for (future) ISR routing<br /> <br /> == Private IPv4 allocation ==<br /> <br /> * ISR uses private class A '''10.0.0.0/8'''<br /> ** '''10.0.0.0/16''' for the internal IP network; they take the informal format ''10.0.n.-'' where ''n'' stands for: 0=network, 1=direction, 2+5+6=IRSg, 3=VisLab, 4=LaSEEB (unused), 7=SIPG, 8=DSOR, 9=AG, 10=visitors, 11=access control, 12=IP cameras (unused), 13=jmrs cameras, 20-29=DHCP<br /> ** '''10.1.0.0/16''' for wireless access (ISR)<br /> ** '''10.10.1.0/24''' for the VisNet (Vislab cluster)<br /> ** '''10.10.2.0/24''' for the CamNet (IP cameras)<br /> ** '''10.10.3.0/24''' for the Network management<br /> ** '''10.10.4.0/24''' for the OpenVPN dynamic addresses<br /> ** '''10.10.5.0/24''' for point-to-point interconnects:<br /> *** 10.10.5.0/30 for sumo-soma<br /> *** 10.10.5.4/30 for sumo-servo<br /> *** 10.10.5.8/30 ...<br /> *** 10.10.5.12/30 ...<br /> ** '''10.10.6.0/24''' for the OpenVPN static addresses<br /> <br /> * The SocRob team uses the RoboCup allocated wireless network '''172.16.46.0/24'''<br /> <br /> == Public IPv6 allocation ==<br /> <br /> The ISR has native IPv6 connectivity.<br /> <br /> * Allocated prefix: '''2001:690:2100:410::/60'''<br /> ** '''2001:690:2100:411::/112''' for DMZ<br /> ** '''2001:690:2100:412::/96''' for the internal network (manually assigned)<br /> ** '''2001:690:2100:413::/64''' for the internal network (auto-addressing)</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=IP_allocation&diff=7167 2021-01-05T12:01:11Z

<p>Yoda: /* Private IPv4 allocation */</p> <hr /> <div>== Public IPv4 allocation ==<br /> <br /> * ISR allocated subnet: '''193.136.138.0/25''' (0|1-126|127, 7 bits)<br /> ** '''193.136.138.0/26''' (0|1-62|63, 6 bits) for DMZ<br /> ** '''193.136.138.96/28''' (96|97-110|111, 4 bits) reserved for jseq<br /> ** '''193.136.138.112/28''' (112|113-126|127, 4 bits) reserved for (future) ISR routing<br /> <br /> == Private IPv4 allocation ==<br /> <br /> * ISR uses private class A '''10.0.0.0/8'''<br /> ** '''10.0.0.0/16''' for the internal IP network; they take the informal format ''10.0.n.-'' where ''n'' stands for: 0=network, 1=direction, 2+5=ISLab, 3=VisLab, 4=LaSEEB (unused), 6=LRM, 7=SIPG, 8=DSOR, 9=AG, 10=visitors, 11=access control, 12=IP cameras (unused), 13=jmrs cameras, 20-29=DHCP<br /> ** '''10.1.0.0/16''' for wireless access (ISR)<br /> ** '''10.10.1.0/24''' for the VisNet (Vislab cluster)<br /> ** '''10.10.2.0/24''' for the CamNet (IP cameras)<br /> ** '''10.10.3.0/24''' for the Network management<br /> ** '''10.10.4.0/24''' for the VPN<br /> ** '''10.10.5.0/24''' for point-to-point interconnects:<br /> *** 10.10.5.0/30 for sumo-soma<br /> *** 10.10.5.4/30 for sumo-servo<br /> *** 10.10.5.8/30 ...<br /> *** 10.10.5.12/30 ...<br /> <br /> * The SocRob team uses the RoboCup allocated wireless network '''172.16.46.0/24'''<br /> <br /> == Public IPv6 allocation ==<br /> <br /> The ISR has native IPv6 connectivity.<br /> <br /> * Allocated prefix: '''2001:690:2100:410::/60'''<br /> ** '''2001:690:2100:411::/112''' for DMZ<br /> ** '''2001:690:2100:412::/96''' for the internal network (manually assigned)<br /> ** '''2001:690:2100:413::/64''' for the internal network (auto-addressing)</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=IP_allocation&diff=7166 2021-01-05T11:58:34Z

<p>Yoda: </p> <hr /> <div>== Public IPv4 allocation ==<br /> <br /> * ISR allocated subnet: '''193.136.138.0/25''' (0|1-126|127, 7 bits)<br /> ** '''193.136.138.0/26''' (0|1-62|63, 6 bits) for DMZ<br /> ** '''193.136.138.96/28''' (96|97-110|111, 4 bits) reserved for jseq<br /> ** '''193.136.138.112/28''' (112|113-126|127, 4 bits) reserved for (future) ISR routing<br /> <br /> == Private IPv4 allocation ==<br /> <br /> * ISR uses private class A '''10.0.0.0/8'''<br /> ** '''10.0.0.0/16''' for the internal IP network; they take the informal format ''10.0.n.-'' where ''n'' stands for: 0=network, 1=direction, 2+5=ISLab, 3=VisLab, 4=LaSEEB (unused), 6=LRM, 7=SIPG, 8=DSOR, 9=AG, 10=visitors, 11=access control, 12=IP cameras (unused), 13=jmrs cameras, 20-29=DHCP<br /> ** '''10.1.0.0/16''' for wireless access (ISR)<br /> ** '''10.10.1.0/24''' for the VisNet (Vislab cluster)<br /> ** '''10.10.2.0/24''' for the CamNet (IP cameras)<br /> ** '''10.10.3.0/24''' for the Network management<br /> ** '''10.10.4.0/24''' for the VPN<br /> ** '''10.10.5.0/24''' for point-to-point interconnects:<br /> *** 10.10.5.0/30 for sumo-servo<br /> *** 10.10.5.4/30 for soma-sumo<br /> *** 10.10.5.8/30 ...<br /> *** 10.10.5.12/30 ...<br /> <br /> * The SocRob team uses the RoboCup allocated wireless network '''172.16.46.0/24'''<br /> <br /> == Public IPv6 allocation ==<br /> <br /> The ISR has native IPv6 connectivity.<br /> <br /> * Allocated prefix: '''2001:690:2100:410::/60'''<br /> ** '''2001:690:2100:411::/112''' for DMZ<br /> ** '''2001:690:2100:412::/96''' for the internal network (manually assigned)<br /> ** '''2001:690:2100:413::/64''' for the internal network (auto-addressing)</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Short_course_on_ROS_programming_2020&diff=7165 2020-11-24T23:09:46Z

<p>Yoda: </p> <hr /> <div>'''23-Nov-2020, 10h00-18h00'''<br /> <br /> == Objectives ==<br /> <br /> This short course on Robot Operating System (ROS) covers both the basics of ROS and the techniques for programming using this System. It is a one-day course, where in the morning the basics of ROS are covered, while the afternoon is devoted to delving into the hands-on details of practical programming.<br /> <br /> == Program ==<br /> <br /> '''November 23rd, 2020'''<br /> <br /> '''Part 1: 10h00-12h00''' ([[Media:ROS2020 part 1.pdf|slides]]) ([https://youtu.be/3aVYUAj7sr4 video])&lt;br/&gt;<br /> Introduction to ROS. Concepts of node, topic, and service. Message types. Development tools. Examples of packages.<br /> <br /> '''Part II: 14h00-18h00''' ([[Media:ROS2020 part 2.pdf|slides]]) ([https://youtu.be/zqpKWHHlgOA video])&lt;br/&gt;<br /> Shallow introduction to the Linux cli. Understanding the ROS workspace. Creating a package and understanding its structure. Nodes in Python and C++. Launchers, parameters, messages, services, and actions. ROS tools (gazebo, command line tools, rviz, rqt tools). Common issues.<br /> <br /> == Code ==<br /> <br /> Code developed during the short course: https://drive.google.com/drive/folders/1zN6qWz6eb8ssyr_HHDlRsMpAp8Ry8Yzs?usp=sharing<br /> <br /> == Location ==<br /> <br /> The sessions will take place remotely on the following Zoom rooms:&lt;br/&gt;<br /> <br /> '''Part 1: 10h00-12h00'''&lt;br/&gt;<br /> : Meeting ID: 865 5538 4263<br /> : Password: 345235<br /> <br /> '''Part II: 14h00-18h00'''&lt;br/&gt;<br /> : Meeting ID: 861 0097 1734<br /> : Password: 471628<br /> <br /> == Workshop materials ==<br /> <br /> '''Please download and setup a VM before the workshop, as shown in the pdf!'''<br /> <br /> Please follow this guide before the workshop to setup your VM:<br /> https://drive.google.com/drive/folders/1RCKQBc6KigMzfuwAj74U3DrGtCpWqfSz?usp=sharing<br /> <br /> <br /> Please test if your VM has internet access. Open a terminal and ping www.google.com<br /> <br /> '''Update:''' VMware Fusion runs on Mac. You can use IST's or your institution's license: https://www.vmware.com/products/fusion.html, https://si.tecnico.ulisboa.pt/en/software/vmware/<br /> <br /> == Videos ==<br /> <br /> &lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/3aVYUAj7sr4&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> &lt;html&gt;&lt;iframe width=&quot;560&quot; height=&quot;315&quot; src=&quot;https://www.youtube.com/embed/zqpKWHHlgOA&quot; frameborder=&quot;0&quot; allow=&quot;accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture&quot; allowfullscreen&gt;&lt;/iframe&gt;&lt;/html&gt;<br /> <br /> == Organization ==<br /> <br /> [http://wp.isr.tecnico.ulisboa.pt/rventura/ Rodrigo Ventura]&lt;br/&gt;<br /> [https://www.linkedin.com/in/joaoavelino/ João Avelino]<br /> <br /> [https://welcome.isr.tecnico.ulisboa.pt/ Institute for Systems and Robotics (ISR-Lisboa)]&lt;br/&gt;<br /> [https://tecnico.ulisboa.pt/ Instituto Superior Técnico (IST)]<br /> <br /> [[Image:Isr logo edited transparency.png|80px]]&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;<br /> [[Image:IST logo new.jpg|200px]]&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;<br /> <br /> A [https://events.vtools.ieee.org/m/248653 IEEE Robotics and Automation Society (RAS) - Portugal Chapter event].<br /> <br /> [[Image:Ieee mb blue 1.gif|200px]]&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;<br /> [[Image:IEEE RAS logo 4C stacked-HiRes.fw.png|200px]]<br /> <br /> And also a [https://www.eu-robotics.net/robotics_week/events/erw-2020-events/short_course_on_ros_programming_2020.5496.html euRobotics European Robotics Week event].<br /> <br /> [[Image:EuRobotics week logo land.png|200px]]</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Short_course_on_ROS_programming_2020&diff=7164 2020-11-24T23:04:47Z

<p>Yoda: </p> <hr /> <div>'''23-Nov-2020, 10h00-18h00'''<br /> <br /> == Objectives ==<br /> <br /> This short course on Robot Operating System (ROS) covers both the basics of ROS and the techniques for programming using this System. It is a one-day course, where in the morning the basics of ROS are covered, while the afternoon is devoted to delving into the hands-on details of practical programming.<br /> <br /> == Program ==<br /> <br /> '''November 23rd, 2020'''<br /> <br /> '''Part 1: 10h00-12h00''' ([[Media:ROS2020 part 1.pdf|slides]]) ([https://youtu.be/3aVYUAj7sr4 video])&lt;br/&gt;<br /> Introduction to ROS. Concepts of node, topic, and service. Message types. Development tools. Examples of packages.<br /> <br /> '''Part II: 14h00-18h00''' ([[Media:ROS2020 part 2.pdf|slides]]) ([https://youtu.be/zqpKWHHlgOA video])&lt;br/&gt;<br /> Shallow introduction to the Linux cli. Understanding the ROS workspace. Creating a package and understanding its structure. Nodes in Python and C++. Launchers, parameters, messages, services, and actions. ROS tools (gazebo, command line tools, rviz, rqt tools). Common issues.<br /> <br /> == Code ==<br /> <br /> Code developed during the short course: https://drive.google.com/drive/folders/1zN6qWz6eb8ssyr_HHDlRsMpAp8Ry8Yzs?usp=sharing<br /> <br /> == Location ==<br /> <br /> The sessions will take place remotely on the following Zoom rooms:&lt;br/&gt;<br /> <br /> '''Part 1: 10h00-12h00'''&lt;br/&gt;<br /> : Meeting ID: 865 5538 4263<br /> : Password: 345235<br /> <br /> '''Part II: 14h00-18h00'''&lt;br/&gt;<br /> : Meeting ID: 861 0097 1734<br /> : Password: 471628<br /> <br /> == Workshop materials ==<br /> <br /> '''Please download and setup a VM before the workshop, as shown in the pdf!'''<br /> <br /> Please follow this guide before the workshop to setup your VM:<br /> https://drive.google.com/drive/folders/1RCKQBc6KigMzfuwAj74U3DrGtCpWqfSz?usp=sharing<br /> <br /> <br /> Please test if your VM has internet access. Open a terminal and ping www.google.com<br /> <br /> '''Update:''' VMware Fusion runs on Mac. You can use IST's or your institution's license: https://www.vmware.com/products/fusion.html, https://si.tecnico.ulisboa.pt/en/software/vmware/<br /> <br /> (''the slides will be posted here'')<br /> <br /> == Organization ==<br /> <br /> [http://wp.isr.tecnico.ulisboa.pt/rventura/ Rodrigo Ventura]&lt;br/&gt;<br /> [https://www.linkedin.com/in/joaoavelino/ João Avelino]<br /> <br /> [https://welcome.isr.tecnico.ulisboa.pt/ Institute for Systems and Robotics (ISR-Lisboa)]&lt;br/&gt;<br /> [https://tecnico.ulisboa.pt/ Instituto Superior Técnico (IST)]<br /> <br /> [[Image:Isr logo edited transparency.png|80px]]&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;<br /> [[Image:IST logo new.jpg|200px]]&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;<br /> <br /> A [https://events.vtools.ieee.org/m/248653 IEEE Robotics and Automation Society (RAS) - Portugal Chapter event].<br /> <br /> [[Image:Ieee mb blue 1.gif|200px]]&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;<br /> [[Image:IEEE RAS logo 4C stacked-HiRes.fw.png|200px]]<br /> <br /> And also a [https://www.eu-robotics.net/robotics_week/events/erw-2020-events/short_course_on_ros_programming_2020.5496.html euRobotics European Robotics Week event].<br /> <br /> [[Image:EuRobotics week logo land.png|200px]]</div>

Yoda http://mediawiki.isr.tecnico.ulisboa.pt/index.php?title=Short_course_on_ROS_programming_2020&diff=7162 2020-11-23T09:46:52Z

<p>Yoda: </p> <hr /> <div>'''23-Nov-2020, 10h00-18h00'''<br /> <br /> == Objectives ==<br /> <br /> This short course on Robot Operating System (ROS) covers both the basics of ROS and the techniques for programming using this System. It is a one-day course, where in the morning the basics of ROS are covered, while the afternoon is devoted to delving into the hands-on details of practical programming.<br /> <br /> == Program ==<br /> <br /> '''November 23rd, 2020'''<br /> <br /> '''Part 1: 10h00-12h00''' ([[Media:ROS2020 part 1.pdf|slides]])&lt;br/&gt;<br /> Introduction to ROS. Concepts of node, topic, and service. Message types. Development tools. Examples of packages.<br /> <br /> '''Part II: 14h00-18h00''' ([[Media:ROS2020 part 2.pdf|slides]])&lt;br/&gt;<br /> Shallow introduction to the Linux cli. Understanding the ROS workspace. Creating a package and understanding its structure. Nodes in Python and C++. Launchers, parameters, messages, services, and actions. ROS tools (gazebo, command line tools, rviz, rqt tools). Common issues.<br /> <br /> == Location ==<br /> <br /> The sessions will take place remotely on the following Zoom rooms:&lt;br/&gt;<br /> <br /> '''Part 1: 10h00-12h00'''&lt;br/&gt;<br /> : Meeting ID: 865 5538 4263<br /> : Password: 345235<br /> <br /> '''Part II: 14h00-18h00'''&lt;br/&gt;<br /> : Meeting ID: 861 0097 1734<br /> : Password: 471628<br /> <br /> == Workshop materials ==<br /> <br /> '''Please download and setup a VM before the workshop, as shown in the pdf!'''<br /> <br /> Please follow this guide before the workshop to setup your VM:<br /> https://drive.google.com/drive/folders/1RCKQBc6KigMzfuwAj74U3DrGtCpWqfSz?usp=sharing<br /> <br /> <br /> Please test if your VM has internet access. Open a terminal and ping www.google.com<br /> <br /> '''Update:''' VMware Fusion runs on Mac. You can use IST's or your institution's license: https://www.vmware.com/products/fusion.html, https://si.tecnico.ulisboa.pt/en/software/vmware/<br /> <br /> (''the slides will be posted here'')<br /> <br /> == Organization ==<br /> <br /> [http://wp.isr.tecnico.ulisboa.pt/rventura/ Rodrigo Ventura]&lt;br/&gt;<br /> [https://www.linkedin.com/in/joaoavelino/ João Avelino]<br /> <br /> [https://welcome.isr.tecnico.ulisboa.pt/ Institute for Systems and Robotics (ISR-Lisboa)]&lt;br/&gt;<br /> [https://tecnico.ulisboa.pt/ Instituto Superior Técnico (IST)]<br /> <br /> [[Image:Isr logo edited transparency.png|80px]]&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;<br /> [[Image:IST logo new.jpg|200px]]&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;<br /> <br /> A [https://events.vtools.ieee.org/m/248653 IEEE Robotics and Automation Society (RAS) - Portugal Chapter event].<br /> <br /> [[Image:Ieee mb blue 1.gif|200px]]&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;&amp;nbsp;<br /> [[Image:IEEE RAS logo 4C stacked-HiRes.fw.png|200px]]<br /> <br /> And also a [https://www.eu-robotics.net/robotics_week/events/erw-2020-events/short_course_on_ros_programming_2020.5496.html euRobotics European Robotics Week event].<br /> <br /> [[Image:EuRobotics week logo land.png|200px]]</div>

Yoda