Autonomous Systems resources

Robots

	Magabot product website drivers for ROS
	Pioneer 3DX product website drivers for ROS
	Pioneer 3AT product website drivers for ROS
	UAVision Quadrotor Instructions and Software quad simulator
	NomadicScout (customized) new instructions and software (standalone) old instructions and software using the internal motherboard

Bibliography for projects

on Gaussian PDFs

• Gaussian Probability Density Functions: Properties and Error Characterization - Maria Isabel Ribeiro (2004)

on Kalman Filter

• Kalman and Extended Kalman Filters: Concept, Derivation and Properties - Maria Isabel Ribeiro (2004)

on particle filters

• A Tutorial on Particle Filters for Online Nonlinear/Non-Gaussian Bayesian Tracking - Arulampalam, Maskell, Gordon, Clapp (2002)

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

• A Probabilistic Approach to Collaborative Multi-Robot Localization - Fox et al (2000)

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 quadcopters

• Special Issue of the IEEE Robotics and Automation Magazine on Quadcopter UAVs

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)

on cooperative perception and localization using shared objects

• Multi-Robot Cooperative Object Localization Decentralized Bayesian Approach - J. Santos (2009)

Software and Miscellaneous

for MS Kinect for XBOX RGBD cam

• Freenect drivers: http://wiki.ros.org/freenect_stack

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
• Hokuyo Laser URG-04LX-UG01 Matlab code and documentation (thanks to students Miguel Vaz and Henrique Silva): Hokuyo_Laser_InterfacePioneer_Matlab.zip

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