Autonomous Systems resources: Difference between revisions

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== Robots ==
=== Real robots ===
{| border=1
<!--
| [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot
* [[ScoutSoftware|instructions and software]]
-->
|-
| [[Image:Icon magabot.png|100px]] || IdMind Magabot
* [http://magabot.cc/ product website]
* [https://bitbucket.org/rventura73/magabot-arduino-ros-pkg drivers for ROS]
|-
| [[Image:Icon pioneer3DX.png|100px]] || ActivMedia Pioneer 3DX
* [http://www.mobilerobots.com/researchrobots/pioneerp3dx.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
|-
| [[Image:Icon pioneer3AT.png|100px]] || ActivMedia Pioneer 3AT
* [http://www.mobilerobots.com/researchrobots/P3AT.aspx product website]
* [http://wiki.ros.org/Robots/AMR_Pioneer_Compatible drivers for ROS]
* [[Instructions]]
|-
| [[Image:MiniQuad_small.JPG|100px]] || UAVision Quadrotor
* [[QuadSoftware|Instructions and Software]]
* [http://wiki.ros.org/hector_quadrotor quad simulator]
* [http://users.isr.ist.utl.pt/~pal/QuadSimulatorHokuyo.zip archive with files] to adapt hector_quadcopter code for ISR quads:
** quadrotor_hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_quadrotor_description/urdf.
** hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_sensors_description/urdf.
<!--
|-
| [[Image:Icon raposa-ng.png|100px]] || [[RAPOSA-NG]]
* [[RaposaNgSoftware|instructions and software]]
|-
| [[Image:Icon rovio.png|100px]] || WoWee Rovio
* [http://www.wowwee.com/en/products/tech/telepresence/rovio/rovio product website]
* [http://wiki.ros.org/rovio drivers for ROS]
-->
|-
| [[Image:Icon scout.png|100px]] || Nomadic Scout (customized)
* [[ScoutSoftwareStandalone|new instructions and software (standalone)]]
* [[ScoutSoftware|old instructions and software using the internal motherboard]]
<!--
|-
| [[Image:Icon socrob.png|100px]] || SocRob omni
* [[SocrobOmniSoftware|instructions and software]]
-->
|-
|}
=== Simulated robots ===
{| border=1
<!--
| [[Image:Icon isr-cobot.png|100px]] || ISR-CoBot
* [[ScoutSoftware|instructions and software]]
|| Works in:
* Ubuntu 16.04 + ROS Kinetic
* Ubuntu 18.04 + ROS Melodic
-->
|-
| [[Image:Astrobee.png|100px]] || NASA Astrobee
* https://github.com/nasa/astrobee
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
* Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)
|-
| [[Image:Husky.png|100px]] || Clearpath Husky
* http://wiki.ros.org/Robots/Husky
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
* Ubuntu 18.04 + ROS Melodic
|-
| [[Image:PX4drone.png|100px]] || PX4-based hexarotor
* https://dev.px4.io/master/en/simulation/gazebo.html
|| Works in:
* Ubuntu 18.04 + ROS Melodic (Suggested)
|-
| [[Image:UUVrobot.png|100px]] || UUVSimulator
* https://uuvsimulator.github.io/
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
* Ubuntu 18.04 + ROS Melodic
|-
| [[Image:Mbot socrob.png|100px]] || SocRob@Home MBot
* https://github.com/socrob/mbot_simulation_sa/
|| Works in:
* Ubuntu 16.04 + ROS Kinetic (Suggested)
|-
|}
== Guide for good presentations ==
* https://users.ece.cmu.edu/~pueschel/teaching/guides/guide-presentations.pdf
== Bibliography for projects ==
== Bibliography for projects ==


=== on Particle Filters ===
=== General ===
* [http://www.probabilistic-robotics.org/ Probabilistic Robotics - Sebastian Thrun et al]
 
=== on Gaussian PDFs ===
* [[Media:GaussianPDFs.pdf|Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)]]
 
=== on Kalman Filter ===
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]]
* [[Media:Derivation of the discrete-time Kalman filter.pdf|Derivation of the discrete-time Kalman filter - Rodrigo Ventura (2018)]]
* [[Media:Indirect Kalman Filter for 3D Attitude Estimation.pdf|Indirect Kalman Filter for 3D Attitude Estimation]]
 
=== on particle filters ===
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]
* [[Media:Arulampalam,02.pdf|A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)]]


=== on Monte Carlo Localization (MCL) ===
=== on mapping ===
* [[Media:Elfes87.pdf|Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)]]
* [[Media:Elfes occup grids.pdf|Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)]]
* [[Media:Thrun03.pdf|Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)]]
 
=== on Monte Carlo localization (MCL) ===
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Fox01.pdf|Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]
* [[Media:Rekleitis02.pdf|Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)]]


=== on Simultaneous Localization And Mapping ===
=== on robust Monte Carlo localization ===
* [[Media:Mcl-mixture-ai-2001.pdf|A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)]]
 
=== on simultaneous localization and mapping (SLAM) ===
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Durrant-Whyte06.pdf|Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Bayley06.pdf|Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo02.pdf|FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]
* [[Media:Montemerlo03.pdf|Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)]]
* [[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)]]
* [[Media:A Tutorial on Graph-Based SLAM.pdf|A Tutorial on Graph-Based SLAM - Grisetti et al (2010)]]
=== on localization of the ITER vehicle ===
* [[Media:Ferreira13.pdf|Vehicle localization system using offboard range sensor network - Ferreira et al (2013)]]
* [[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)]]
=== on Petri net representation of robot tasks ===
* [http://link.springer.com/article/10.1007%2Fs10514-012-9288-x?LI=true  Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012]
* [http://link.springer.com/article/10.1007/s10458-010-9146-1  Petri Net Plans: A Framework for Collaboration and Coordination in Multi-Robot Systems, V. A. Ziparo, L. Iocchi, P. Lima, D. Nardi, P. F. Palamara, Journal of Autonomous Agents and Multi-Agent Systems, 2012]
* [https://doi.org/10.1007/978-3-642-41610-1_9-1  Robot Task Modeling, P. U. Lima, Encyclopedia of Robotics - Editors Editors: Marcelo H. Ang Jr., Oussama Khatib and Bruno Siciliano, Springer, 2020]
* Error Monitoring, Conflict Resolution and Decision-Making, P. U. Lima, in Perception-reason-action cycle: Models, algorithms and systems, J. G. Taylor, D. Polani, A. Hussain, and N. Tish (Eds.), Springer-Verlag, 2010


=== on multiagent pollutant monitoring ===  
=== on quadcopters ===
* [[Media:Seco98a.pdf|A Society of Agents in Environmental Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]
* [http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=6299141 Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs]
* [[Media:Seco98b.pdf|Multiagents and Pollutant Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]


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


=== on cooperative perception and localization using shared objects ===  
=== on cooperative perception and localization using shared objects ===  
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:JSantostese_final.pdf|Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)]]
* [[Media:ICRA13_1630_FI.pdf|Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013]]
* [http://www.sciencedirect.com/science/article/pii/S0921889013000535 Multi-robot cooperative spherical-object tracking in 3D space based on particle filters - A. Ahmad, P. U. Lima, J. of Robotics and Autonomous Systems (2013)]
<!-- === on multiagent pollutant monitoring ===
* [[Media:Seco98a.pdf|A Society of Agents in Environmental Monitoring - Seco, Pinto-Ferreira, Correia (1998)]]
* [[Media:Seco98b.pdf|Multiagents and Pollutant Monitoring - Seco, Pinto-Ferreira, Correia (1998)]] -->
=== on Wi-Fi localization ===
* [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)]
* [http://repository.cmu.edu/cgi/viewcontent.cgi?article=3861&context=compsci WiFi Localization and Navigation for Autonomous Indoor Mobile Robots - Biswas et al (2010)]
=== on magnetic field based localization ===
* [[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)]]
* [[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)]]
=== on Reinforcement Learning ===
* [http://www.incompleteideas.net/sutton/book/the-book.html Reinforcement Learning: An Introduction - Sutton & Barto (1998 + draft 2017)]
=== on geometric self-calibration ===
* [[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)]]
== Software and Miscellaneous ==
=== Home Automation and Fusion projects ===
Software and Hardware for [[ Home Automation ]]
==== IP Cams ====
===== Hardware =====
* VIVOTEK 8174 omnidirectional cams: http://www.vivotek.com/fe8174/
* VIVOTEK 8171v omnidirectional cams: http://www.vivotek.com/fe8171v/
* AXIS P1344 Perspective cams: http://www.axis.com/products/cam_p1344/
===== Software =====
* GitHub repository of Autonomous Systems software: https://github.com/socrob/autonomous_systems
The ROS software to acquire data from the cameras is provided in [[Media:Ipcam.tar|Ipcam.tar]]. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.
This software can be run in a server in ISR  in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.
Note that in order to acquire data from the cameras one need to be in the ISR network.
=== MS Kinect for XBOX RGBD cam ===
* Freenect drivers: http://wiki.ros.org/freenect_stack


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


=== for Pioneer P3-DX robots ===
<!--
=== for IdMind modified Nomadic Scout robots ===
* ROS drivers: [[Media:Ros scout-1.0.tgz|ros_scout-1.0.tgz]]
-->
=== for Pioneer P3-DX and P3-AT robots ===
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* Operations manual: [[Media:P3OpMan3.pdf|P3OpMan3.pdf]]
* MATLAB interface code: [[Media:Matlab pioneer.zip|matlab_pioneer.zip]] (check [[Robotics lab resources]] for further details)
* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]
* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]]


=== maps ===
=== Maps ===
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution)
=== Demo software ===
* Bayes filtering demo in 1D -- [http://users.isr.ist.utl.pt/~yoda/software/demo_bayes-1.3.py demo_bayes-1.3.py] -- '''UPDATE''': now includes Particle filtering!
* Example in ROS -- [https://github.com/MarceloJacinto/demo_ros github repository]
=== ROS ===
* ROS: Robot Operating System http://www.ros.org
* ROS Hydro Medusa + Ubuntu 12.04 (Precise Pangolin) http://users.isr.ist.utl.pt/~jmessias/ubuntu_ros.zip
=== UWB devices ===
* ROS drivers from MOnarCH project: https://github.com/socrob/autonomous_systems/tree/master/resources/drivers/monarch_uwb
* [[Media:ReadMe UWB.pdf|FAQ]]

Latest revision as of 07:41, 29 May 2024

Robots

Real robots

IdMind Magabot
ActivMedia Pioneer 3DX
ActivMedia Pioneer 3AT
UAVision Quadrotor
Nomadic Scout (customized)

Simulated robots

NASA Astrobee Works in:
  • Ubuntu 16.04 + ROS Kinetic (Suggested)
  • Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)
Clearpath Husky Works in:
  • Ubuntu 16.04 + ROS Kinetic (Suggested)
  • Ubuntu 18.04 + ROS Melodic
PX4-based hexarotor Works in:
  • Ubuntu 18.04 + ROS Melodic (Suggested)
UUVSimulator Works in:
  • Ubuntu 16.04 + ROS Kinetic (Suggested)
  • Ubuntu 18.04 + ROS Melodic
SocRob@Home MBot Works in:
  • Ubuntu 16.04 + ROS Kinetic (Suggested)

Guide for good presentations

Bibliography for projects

General

on Gaussian PDFs

on Kalman Filter

on particle filters

on mapping

on Monte Carlo localization (MCL)

on robust Monte Carlo localization

on simultaneous localization and mapping (SLAM)

on localization of the ITER vehicle

on Petri net representation of robot tasks

on quadcopters

on cooperative teammate localization

on cooperative perception and localization using shared objects

on Wi-Fi localization

on magnetic field based localization

on Reinforcement Learning

on geometric self-calibration

Software and Miscellaneous

Home Automation and Fusion projects

Software and Hardware for Home Automation

IP Cams

Hardware
Software

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

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

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

MS Kinect for XBOX RGBD cam

Laser Range Finders

for Pioneer P3-DX and P3-AT robots

Maps

  • Scanned copy of a map of the 5th floor at the North Tower: piso5.pdf (revised: better resolution)

Demo software

ROS

UWB devices

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