Autonomous Systems resources: Difference between revisions
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=== for MS Kinect for XBOX RGBD cam === | === for MS Kinect for XBOX RGBD cam === | ||
* Freenect drivers: http://wiki.ros.org/freenect_stack | * Freenect drivers: http://wiki.ros.org/freenect_stack | ||
=== Laser Range Finders === | |||
* Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers | |||
* Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): [[Media:Hokuyo_Laser_InterfacePioneer_Matlab.zip|Hokuyo_Laser_InterfacePioneer_Matlab.zip]] | |||
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* MATLAB interface code: check [[Robotics lab resources#Interface with MATLAB 2]] | * 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 === | ||
Revision as of 17:57, 8 October 2014
Robots
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Magabot |
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Pioneer 3DX |
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Pioneer 3AT |
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UAVision Quadrotor |
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NomadicScout (customized) |
Bibliography for projects
on Gaussian PDFs
on Kalman Filter
- Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)
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)
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
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)
Software and Miscellaneous
for MS Kinect for XBOX RGBD cam
- Freenect drivers: http://wiki.ros.org/freenect_stack
Laser Range Finders
- Hokuyo LRF URG-04LX-UG01 and SICK LRF LMS 200 and LMS291 ROS drivers http://wiki.ros.org/laser_drivers
- Hokuyo LRF URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): 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!
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