Autonomous Systems resources: Difference between revisions

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=== demo software ===
=== 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]


=== ROS ===
=== ROS ===

Revision as of 18:48, 3 May 2023

Robots

Real robots

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

Simulated robots

NASA Astrobee Works in:
  • Ubuntu 16.04 + ROS Kinetic (Suggested)
  • Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)
Clearpath Husky Works in:
  • Ubuntu 16.04 + ROS Kinetic (Suggested)
  • Ubuntu 18.04 + ROS Melodic
PX4-based hexarotor Works in:
  • Ubuntu 18.04 + ROS Melodic (Suggested)
UUVSimulator Works in:
  • Ubuntu 16.04 + ROS Kinetic (Suggested)
  • Ubuntu 18.04 + ROS Melodic
SocRob@Home MBot Works in:
  • Ubuntu 16.04 + ROS Kinetic (Suggested)

Guide for good presentations

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 localization of the ITER vehicle

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

on Reinforcement Learning

on geometric self-calibration

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!
  • Example in ROS -- [1]

ROS

UWB devices