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
LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
Tixiao Shan,Brendan Englot +1 more
TL;DR: A lightweight and ground-optimized lidar odometry and mapping method, LeGO-LOAM, for realtime six degree-of-freedom pose estimation with ground vehicles and integrated into a SLAM framework to eliminate the pose estimation error caused by drift is integrated.
Journal ArticleDOI
Robots that can adapt like animals
Antoine Cully,Jeff Clune,Danesh Tarapore,Danesh Tarapore,Danesh Tarapore,Jean-Baptiste Mouret +5 more
TL;DR: An intelligent trial-and-error algorithm is introduced that allows robots to adapt to damage in less than two minutes in large search spaces without requiring self-diagnosis or pre-specified contingency plans, and may shed light on the principles that animals use to adaptation to injury.
Proceedings ArticleDOI
A flexible and scalable SLAM system with full 3D motion estimation
TL;DR: A system for fast online learning of occupancy grid maps requiring low computational resources is presented that combines a robust scan matching approach using a LIDAR system with a 3D attitude estimation system based on inertial sensing to achieve reliable localization and mapping capabilities in a variety of challenging environments.
Proceedings ArticleDOI
STOMP: Stochastic trajectory optimization for motion planning
TL;DR: It is experimentally show that the stochastic nature of STOMP allows it to overcome local minima that gradient-based methods like CHOMP can get stuck in.
Journal ArticleDOI
The GRASP Multiple Micro-UAV Testbed
TL;DR: In the last five years, advances in materials, electronics, sensors, and batteries havefueled a growth in the development of microunmanned aerial vehicles (MAVs) that are between 0.1 and 0.5 m in length and0.1-0.5 kg in mass.
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.