Autonomous Systems resources: Difference between revisions

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* [[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: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]]
* [[Media:A Tutorial on Graph-Based SLAM.pdf|A Tutorial on Graph-Based SLAM - Grisetti et al (2010)]]


=== on Petri net representation of robot tasks ===
=== on Petri net representation of robot tasks ===

Revision as of 10:55, 3 October 2017

Robots

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

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 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

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

  • Bayes filtering demo in 1D -- demo_bayes-1.3.py -- UPDATE: now includes Particle filtering!

ROS