Real-Time Software for Mobile Robot Simulation and Experimentation in Cooperative Environments

Murtra, Andreu Corominas; Tur, Josep M. Mirats; Sandoval, Oscar Leonardo Herrera; Sanfeliu, Alberto

doi:10.1007/978-3-540-89076-8_16

Cited by 6 publications

(4 citation statements)

References 4 publications

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“…Usually, the aggregation of evidence from laser data is sufficient for accurate map-based localization. Nonetheless, in some cases of aliasing, estimates on robot location coming from the camera network help disambiguate between similar localization hypotheses, and also as strong localization evidence in densely populated areas [ 17 , 29 ]. The method in [ 30 ] is based on a particle filter approach [ 31 ], and is summarized here.…”

Section: Some Results In the Urus Projectmentioning

confidence: 99%

Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

Sanfeliu

Andrade‐Cetto

Barbosa

et al. 2010

Sensors

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In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.

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Section: Some Results In the Urus Projectmentioning

confidence: 99%

Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

Sanfeliu

Andrade‐Cetto

Barbosa

et al. 2010

Sensors

Self Cite

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“…The resulting specification runs over YARP as middleware, a free, open‐source, platform‐independent set of libraries, protocols, and tools aimed at decoupling the transmission of information from the particulars of devices and processes in robotic systems (Metta, Fitzpatrick, & Natale, 2006). For a further description of our software architecture, please refer to Corominas Murtra, Mirats‐Tur, Sandoval, and Sanfeliu (2008).…”

Section: Navigation Architecturementioning

confidence: 99%

Autonomous navigation for mobile service robots in urban pedestrian environments

Trulls

Murtra

Pérez-Ibarz

et al. 2011

Journal of Field Robotics

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This paper presents a fully autonomous navigation solution for urban, pedestrian environments. The task at hand, undertaken within the context of the European project URUS, was to enable two urban service robots, based on Segway RMP200 platforms and using planar lasers as primary sensors, to navigate around a known, large (10,000 m 2 ), pedestrian-only environment with poor global positioning system coverage. Special consideration is given to the nature of our robots, highly mobile but two-wheeled, self-balancing, and inherently unstable. Our approach allows us to tackle locations with large variations in height, featuring ramps and staircases, thanks to a three-dimensional, map-based particle filter for localization and to surface traversability inference for low-level navigation. This solution was tested in two different urban settings, the experimental zone devised for the project, a university campus, and a very crowded public avenue, both located in the city of Barcelona, Spain. Our results total more than 6 km of autonomous navigation, with a success rate on go-to requests of nearly 99%. The paper presents our system, examines its overall performance, and discusses the lessons learned throughout development. C 2011 Wiley Periodicals, Inc.

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“…Chapter 8 documents the software framework used in this thesis for simulations and real-world executions. One publication is related to this chapter, [20].…”

Section: Chapter Overview and Reading Guidementioning

confidence: 99%

“…This has been used in section 6.5 to extract high accuracy localization data. A first version of the software architecture reported in this chapter can be found in [20].…”

Section: Overviewmentioning

confidence: 99%

Map-based localization for urban service mobile robotics

Corominas Murtra

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Mobile robotics research is currently interested on exporting autonomous navigation results achieved in indoor environments, to more challenging environments, such as, for instance, urban pedestrian areas. Developing mobile robots with autonomous navigation capabilities in such urban environments supposes a basic requirement for a upperlevel service set that could be provided to an users community. However, exporting indoor techniques to outdoor urban pedestrian scenarios is not evident due to the larger size of the environment, the dynamism of the scene due to pedestrians and other moving obstacles, the sunlight conditions, and the high presence of three dimensional elements such as ramps, steps, curbs or holes. Moreover, GPS-based mobile robot localization has demonstrated insufficient performance for robust long-term navigation in urban environments. One of the key modules within autonomous navigation is localization. If localization supposes an a priori map, even if it is not a complete model of the environment, localization is called map-based. This assumption is realistic since current trends of city councils are on building precise maps of their cities, specially of the most interesting places such as city downtowns. Having robots localized within a map allows for a high-level planning and monitoring, so that robots can achieve goal points expressed on the map, by following in a deliberative way a previously planned route. This thesis deals with the mobile robot map-based localization issue in urban pedestrian areas. The thesis approach uses the particle filter algorithm, a well-known and widely used probabilistic and recursive method for data fusion and state estimation. The main contributions of the thesis are divided on four aspects: (1) long-term experiments of mobile robot 2D and 3D position tracking in real urban pedestrian scenarios within a full autonomous navigation framework, (2) developing a fast and accurate technique to compute on-line range observation models in 3D environments, a basic step required by the real-time performance of the developed particle filter, (3) formulation of a particle filter that integrates asynchronous data streams and (4) a theoretical proposal to solve the global localization problem in an active and cooperative way, defining cooperation as either information sharing among the robots or planning joint actions to solve a common goal. Actualment, la recerca en robòtica mòbil té un interés creixent en exportar els resultats de navegació autònoma aconseguits en entorns interiors cap a d'altres tipus d'entorns més exigents, com, per exemple, les àrees urbanes peatonals. Desenvolupar capacitats de navegació autònoma en aquests entorns urbans és un requisit bàsic per poder proporcionar un conjunt de serveis de més alt nivell a una comunitat d'usuaris. Malgrat tot, exportar les tècniques d'interiors cap a entorns exteriors peatonals no és evident, a causa de la major dimensió de l'entorn, del dinamisme de l'escena provocada pels peatons i per altres obstacles en moviment, de la resposta de certs sensors a la il.luminació natural, i de la constant presència d'elements tridimensionals tals com rampes, escales, voreres o forats. D'altra banda, la localització de robots mòbils basada en GPS ha demostrat uns resultats insuficients de cara a una navegació robusta i de llarga durada en entorns urbans. Una de les peces clau en la navegació autònoma és la localització. En el cas que la localització consideri un mapa conegut a priori, encara que no sigui un model complet de l'entorn, parlem d'una localització basada en un mapa. Aquesta assumpció és realista ja que la tendència actual de les administracions locals és de construir mapes precisos de les ciutats, especialment dels llocs d'interés tals com les zones més cèntriques. El fet de tenir els robots localitzats en un mapa permet una planificació i una monitorització d'alt nivell, i així els robots poden arribar a destinacions indicades sobre el mapa, tot seguint de forma deliberativa una ruta prèviament planificada. Aquesta tesi tracta el tema de la localització de robots mòbils, basada en un mapa i per entorns urbans peatonals. La proposta de la tesi utilitza el filtre de partícules, un mètode probabilístic i recursiu, ben conegut i àmpliament utilitzat per la fusió de dades i l'estimació d'estats. Les principals contribucions de la tesi queden dividides en quatre aspectes: (1) experimentació de llarga durada del seguiment de la posició, tant en 2D com en 3D, d'un robot mòbil en entorns urbans reals, en el context de la navegació autònoma, (2) desenvolupament d'una tècnica ràpida i precisa per calcular en temps d'execució els models d'observació de distàncies en entorns 3D, un requisit bàsic pel rendiment del filtre de partícules a temps real, (3) formulació d'un filtre de partícules que integra conjunts de dades asíncrones i (4) proposta teòrica per solucionar la localització global d'una manera activa i cooperativa, entenent la cooperació com el fet de compartir informació, o bé com el de planificar accions conjuntes per solucionar un objectiu comú.

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Real-Time Software for Mobile Robot Simulation and Experimentation in Cooperative Environments

Cited by 6 publications

References 4 publications

Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

Autonomous navigation for mobile service robots in urban pedestrian environments

Map-based localization for urban service mobile robotics

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