Open AccessProceedings Article
ROS: an open-source Robot Operating System
TLDR
This paper discusses how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.Abstract:
This paper gives an overview of ROS, an opensource robot operating system. ROS is not an operating system in the traditional sense of process management and scheduling; rather, it provides a structured communications layer above the host operating systems of a heterogenous compute cluster. In this paper, we discuss how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.read more
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Proceedings ArticleDOI
LOAM: Lidar Odometry and Mapping in Real-time
Ji Zhang,Sanjiv Singh +1 more
TL;DR: The method achieves both low-drift and low-computational complexity without the need for high accuracy ranging or inertial measurements and can achieve accuracy at the level of state of the art offline batch methods.
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The Open Motion Planning Library
TL;DR: The open motion planning library is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms, and it can be conveniently interfaced with other software components.
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Scalable Nearest Neighbor Algorithms for High Dimensional Data
Marius Muja,David G. Lowe +1 more
TL;DR: It is shown that the optimal nearest neighbor algorithm and its parameters depend on the data set characteristics and an automated configuration procedure for finding the best algorithm to search a particular data set is described.
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V-REP: A versatile and scalable robot simulation framework
TL;DR: A versatile, scalable, yet powerful general-purpose robot simulation framework called V-REP, which allows for direct incorporation of various control techniques and renders simulations and simulation models more accessible to a general-public, by reducing the simulation model deployment complexity.
Proceedings ArticleDOI
Supersizing self-supervision: Learning to grasp from 50K tries and 700 robot hours
Lerrel Pinto,Abhinav Gupta +1 more
TL;DR: This paper takes the leap of increasing the available training data to 40 times more than prior work, leading to a dataset size of 50K data points collected over 700 hours of robot grasping attempts, which allows us to train a Convolutional Neural Network for the task of predicting grasp locations without severe overfitting.
References
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Proceedings ArticleDOI
Perspectives on standardization in mobile robot programming: the Carnegie Mellon Navigation (CARMEN) Toolkit
TL;DR: The authors' open-source robot control software, the Carnegie Mellon Navigation (CARMEN) Toolkit, is described, which chooses not to adopt strict software standards, but to instead focus on good design practices.
Journal ArticleDOI
Development environments for autonomous mobile robots: A survey
James Kramer,Matthias Scheutz +1 more
TL;DR: This survey selects and describes nine open source, freely available RDEs for mobile robots, evaluating and comparing them from various points of view, and establishes a conceptual framework of four broad categories encompassing the characteristics and capabilities that an RDE supports.
Journal ArticleDOI
Microsoft robotics studio: A technical introduction
TL;DR: The composition of MSRS is examined, looking generally at its architecture and specifically at its solutions for concurrency, distribution, abstraction, simulation, and programmer interaction.
Proceedings ArticleDOI
Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot
TL;DR: A novel concept for a mobile, 2-armed, 25-degree-of- freedom system with backdrivable joints, low mechanical impedance, and a 5 kg payload per arm is described.
Proceedings Article
STAIR: Hardware and Software Architecture
TL;DR: The hardware and software integration frameworks used to facilitate the development of these components and to bring them together for the demonstration of the STAIR 1 robot responding to a verbal command to fetch an item are described.