Open AccessProceedings Article
ROS: an open-source Robot Operating System
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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
An open-source research kit for the da Vinci® Surgical System
Peter Kazanzides,Zihan Chen,Anton Deguet,Gregory S. Fischer,Russell H. Taylor,Simon P. DiMaio +5 more
TL;DR: A telerobotics research platform that provides complete access to all levels of control via open-source electronics and software, and is currently installed at 11 research institutions, with additional installations underway, thereby creating a research community around a commonopen-source hardware and software platform.
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People detection in RGB-D data
Luciano Spinello,Kai O. Arras +1 more
TL;DR: This paper takes inspiration from the Histogram of Oriented Gradients (HOG) detector to design a robust method to detect people in dense depth data, called HOD, and proposes Combo-HOD, a RGB-D detector that probabilistically combines HOD and HOG.
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DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments
TL;DR: DS-SLAM as discussed by the authors combines semantic segmentation network with moving consistency check method to reduce the impact of dynamic objects, and thus the localization accuracy is highly improved in dynamic environments.
Proceedings ArticleDOI
Design, modeling, estimation and control for aerial grasping and manipulation
TL;DR: This paper presents the design of several light-weight, low-complexity grippers that allow quadrotors to grasp and perch on branches or beams and pick up and transport payloads and shows the robot's ability to estimate the mass, the location of the center of mass and the moments of inertia to improve tracking performance.
Journal ArticleDOI
TEASER: Fast and Certifiable Point Cloud Registration
TL;DR: TEASER++ as mentioned in this paper uses a truncated least squares (TLS) cost that makes the estimation insensitive to a large fraction of spurious correspondences and provides a general graph-theoretic framework to decouple scale, rotation and translation estimation, which allows solving in cascade for the three transformations.
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.