Autonomous Systems resources

Robots

Real robots

	IdMind Magabot product website drivers for ROS
	ActivMedia Pioneer 3DX product website drivers for ROS
	ActivMedia Pioneer 3AT product website drivers for ROS Instructions
	UAVision Quadrotor Instructions and Software quad simulator archive with files to adapt hector_quadcopter code for ISR quads: quadrotor_hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_quadrotor_description/urdf. hokuyo_urg04lx.urdf.xacro - to be moved to folder hector_sensors_description/urdf.
	Nomadic Scout (customized) new instructions and software (standalone) old instructions and software using the internal motherboard

Simulated robots

	NASA Astrobee https://github.com/nasa/astrobee	Works in: Ubuntu 16.04 + ROS Kinetic (Suggested) Ubuntu 18.04 + ROS Melodic (Possible but not officially supported)
	Clearpath Husky http://wiki.ros.org/Robots/Husky	Works in: Ubuntu 16.04 + ROS Kinetic (Suggested) Ubuntu 18.04 + ROS Melodic
	PX4-based hexarotor https://dev.px4.io/master/en/simulation/gazebo.html	Works in: Ubuntu 18.04 + ROS Melodic (Suggested)
	UUVSimulator https://uuvsimulator.github.io/	Works in: Ubuntu 16.04 + ROS Kinetic (Suggested) Ubuntu 18.04 + ROS Melodic
	SocRob@Home MBot https://github.com/socrob/mbot_simulation_sa/	Works in: Ubuntu 16.04 + ROS Kinetic (Suggested)

Guide for good presentations

• https://users.ece.cmu.edu/~pueschel/teaching/guides/guide-presentations.pdf

Bibliography for projects

General

• Probabilistic Robotics - Sebastian Thrun et al

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)
• Derivation of the discrete-time Kalman filter - Rodrigo Ventura (2018)
• Indirect Kalman Filter for 3D Attitude Estimation

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)
• The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures - Thrun (2006)
• A Tutorial on Graph-Based SLAM - Grisetti et al (2010)

on localization of the ITER vehicle

• Vehicle localization system using offboard range sensor network - Ferreira et al (2013)
• Localization of cask and plug remote handling system in ITER using multiple video cameras - Ferreira et al (2013)

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

• 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)
• 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)

on Wi-Fi localization

• Gaussian Processes for Signal Strength-Based Location Estimation - Brian Ferris et al (2006)
• WiFi Localization and Navigation for Autonomous Indoor Mobile Robots - Biswas et al (2010)

on magnetic field based localization

• Global indoor self-localization based on the ambient magnetic field - Haverinen et al (2008)
• 3-Axis Magnetic Field Mapping and Fusion for Indoor Localization - Le Grand et al (2012)

on Reinforcement Learning

• Reinforcement Learning: An Introduction - Sutton & Barto (1998 + draft 2017)

on geometric self-calibration

• Calibration of Laser Range Finders for Mobile Robot Localization in ITER - Sousa et al (2015)

Software and Miscellaneous

Home Automation and Fusion projects

Software and Hardware for Home Automation

IP Cams

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

• GitHub repository of Autonomous Systems software: https://github.com/socrob/autonomous_systems

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

• 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!
• Example in ROS -- github repository

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

UWB devices

• ROS drivers from MOnarCH project: https://github.com/socrob/autonomous_systems/tree/master/resources/drivers/monarch_uwb
• FAQ