Autonomous Systems resources: Difference between revisions
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==== Software ==== | ==== Software ==== | ||
The ROS software to acquire data from the cameras is provided in | The ROS software to acquire data from the cameras is provided in [[Media:ipcam.tgz|ipcam.tgz]]. 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 placed in 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) the is no problem in running the software in a personal PC. | 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) the is no problem in running the software in a personal PC. | ||
Revision as of 16:48, 9 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
IP Cams for Home Automation and Fusion projects
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
The ROS software to acquire data from the cameras is provided in ipcam.tgz. 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 placed in 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) the 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.
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