Autonomous Systems resources: Difference between revisions
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== Robots == | == Robots == | ||
=== Real robots === | |||
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=== Simulated robots === | |||
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| [[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 == | ||
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=== on Kalman Filter === | === on Kalman Filter === | ||
* [[Media:Kalman.pdf|Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)]] | * [[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 ( | * [[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]] | * [[Media:Indirect Kalman Filter for 3D Attitude Estimation.pdf|Indirect Kalman Filter for 3D Attitude Estimation]] | ||
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* [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%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] | * [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 quadcopters === | === on quadcopters === | ||
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* Python interface code: [[Media:Pioneer.rar|Pioneer.rar]] | * Python interface code: [[Media:Pioneer.rar|Pioneer.rar]] | ||
=== | === Maps === | ||
* Scanned copy of a map of the 5th floor at the North Tower: [[Media:Piso5.pdf|piso5.pdf]] (revised: better resolution) | * 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! | * 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 === | ||
Latest revision as of 07:41, 29 May 2024
Robots
Real robots
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IdMind Magabot |
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ActivMedia Pioneer 3DX |
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ActivMedia Pioneer 3AT |
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UAVision Quadrotor
|
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Nomadic Scout (customized) |
Simulated robots
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NASA Astrobee | Works in:
|
 |
Clearpath Husky | Works in:
|
 |
PX4-based hexarotor | Works in:
|
 |
UUVSimulator | Works in:
|
 |
SocRob@Home MBot | Works in:
|
Guide for good presentations
Bibliography for projects
General
on Gaussian PDFs
on Kalman Filter
- Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)
- Derivation of the discrete-time Kalman filter - Rodrigo Ventura (2018)
- Indirect Kalman Filter for 3D Attitude Estimation
on particle filters
on mapping
- Sonar-Based Real-World Mapping and Navigation - Alberto Elfes (1987)
- Using Occupancy Grids for Mobile Robot Perception and Navigation - Alberto Elfes (1989)
- Learning Occupancy Grid Maps with Forward Sensor Models - Thrun (2003)
on Monte Carlo localization (MCL)
- Particle Filters for Mobile Robot Localization - Fox, Thrun, Burgard, Dellaert (2001)
- Particle Filter Tutorial for Mobile Robots - Ioannis Rekleiris (2002)
on robust Monte Carlo localization
on simultaneous localization and mapping (SLAM)
- Simultaneous Localization and Mapping: Part I - Durrant-Whyte, Bailey (2006)
- Simultaneous Localisation and Mapping (SLAM): Part II State of the Art - Bailey, Durrant-Whyte (2006)
- FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem - Montemerlo, Thrun, Koller, Wegbreit (2002)
- Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM - Montemerlo, Thrun (2003)
- The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures - Thrun (2006)
- A Tutorial on Graph-Based SLAM - Grisetti et al (2010)
on localization of the ITER vehicle
- Vehicle localization system using offboard range sensor network - Ferreira et al (2013)
- 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
- Robot task plan representation by Petri nets: modelling, identification, analysis and execution, H. Costelha, P. Lima, Journal of Autonomous Robots, 2012
- 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
- 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 quadcopters
on cooperative teammate localization
- Optimal Guidance and Decentralised State Estimation Applied to a Formation Flying Demonstration Mission in GTO - D. Dumitriu et al (2007)]
- Robot-to-Robot Relative Pose Estimation from Range Measurements - Zhou and Roumeliotis (2008)
- A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)
- Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)
- Cooperative Robot Localization and Target Tracking based on Least Squares Minimization - A. Ahmad, G. D. Tipaldi, P. U. Lima, W. Burgard. ICRA 2013
- 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 Wi-Fi localization
- Gaussian Processes for Signal Strength-Based Location Estimation - Brian Ferris et al (2006)
- WiFi Localization and Navigation for Autonomous Indoor Mobile Robots - Biswas et al (2010)
on magnetic field based localization
- Global indoor self-localization based on the ambient magnetic field - Haverinen et al (2008)
- 3-Axis Magnetic Field Mapping and Fusion for Indoor Localization - Le Grand et al (2012)
on Reinforcement Learning
on geometric self-calibration
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 Ipcam.tar. Inside the package you can find a readme with instructions and notes. Changes in resolution, fps or other camera parameters need to be requested. A map regarding the cameras' position in the 8th floor is also provided. The numbers in the map correspond to the last IP numbers and to the info that needs to be passed to the roslaunch.
This software can be run in a server in ISR in order to reduce some possible computation effort (and then one just need to subscribe to the topic in the server's IP). This option also need to be requested. For initial tests (and throughout the project) there is no problem in running the software in a personal PC.
Note that in order to acquire data from the cameras one need to be in the ISR network.
MS Kinect for XBOX RGBD cam
- Freenect drivers: http://wiki.ros.org/freenect_stack
Laser Range Finders
- Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
- Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): Hokuyo_Laser_InterfacePioneer_Matlab.zip
for Pioneer P3-DX and P3-AT robots
- Operations manual: P3OpMan3.pdf
- MATLAB interface code: check Robotics lab resources#Interface with MATLAB 2
- Python interface code: Pioneer.rar
Maps
- Scanned copy of a map of the 5th floor at the North Tower: piso5.pdf (revised: better resolution)
Demo software
- Bayes filtering demo in 1D -- demo_bayes-1.3.py -- UPDATE: now includes Particle filtering!
- Example in 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
- FAQ