Turtlebot at Office: A Service-Oriented Software Architecture for Personal Assistant Robots Using ROS

Koubâa, Anis; Sriti, Mohamed–Foued; Javed, Yasir; Alajlan, Maram; Qureshi, Basit; Ellouze, Fatma; Mahmoud, Abdelrahman

doi:10.1109/icarsc.2016.66

Cited by 33 publications

(19 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the experiments, Turtlebot [62] is employed, which is equipped with a hokuyo (URG-04LX model) laser range scanner [63] and onboard laptop with installed ROS. The program in MATLAB on PC is subscribed on the hokuyo sensor topic for reading laser sensor data with 240 degrees of horizontal angle view.…”

Section: Real Experimentsmentioning

confidence: 99%

Waypoint Mobile Robot Exploration Based on Biologically Inspired Algorithms

2020

View full text Add to dashboard Cite

This paper proposes stochastic exploration algorithms for mobile robot exploration problems. Navigation with uncertain conditions in the absence of initial parameters is a situation wherein precomputation and prediction are impossible for a robot. Therefore, stochastic optimization techniques were applied to find the optimal solution for the robot exploration problem. Driving to the unknown areas, the robot updates the frontier line of sensor visibility during the exploration mission. The points of the frontier line are assumed as the swarm population with their own positions and costs, which allows the computation of the next global waypoint. The calculation of global waypoints is carried out by a nature-inspired optimization algorithm that can place a waypoint in uncertainties. This study offers to apply three metaheuristic algorithms individually, such as Whale Optimization, Grey Wolf Optimizer, and Particle Swarm Optimization algorithms, for comparison and testing their performances in the mobile robotics. At first, the simulations based on the proposed exploration algorithms were implemented and evaluated in a created environment. The results were compared in a single and average cases. Then, the real-world experiments using Grey Wolf Optimizer exploration algorithm were conducted in the different types of environments using MATLAB-ROS integration tool. These results proved the effectiveness and applicability of the bio-inspired optimization algorithm in the mobile robotics.

show abstract

Section: Real Experimentsmentioning

confidence: 99%

Waypoint Mobile Robot Exploration Based on Biologically Inspired Algorithms

2020

View full text Add to dashboard Cite

show abstract

“…In [49], [50], a component-based architecture implemented in ROS is proposed for service robots. It provides abstractions for developing robot applications by adding a web service interface where developers can interact with robots without backgrounds in ROS.…”

Section: Related Workmentioning

confidence: 99%

“…Full-stack (missing component) No human intervention Platform-agnostic Real-world demonstration NUClear [44] No (knowledge base, reasoning, UI) Not clear Yes No SERA [45] No (knowledge base) No Yes Yes LAAIR [47], [48] Yes No Yes Yes COROS-based [49], [50] No (reasoning) No Yes Yes Fraiser [51] No (e.g., navigation component) and a provider (e.g., a controller). The requester-provider interaction occurs across the our architecture: KM requests a perception job to PR, TM requests for checking the feasibility of task plans to TMI, TMI asks AM to find feasible trajectories of joints, and etc.…”

Section: Architecturementioning

confidence: 99%

A Software Architecture for Service Robots Manipulating Objects in Human Environments

Nam

Lee

et al. 2020

IEEE Access

View full text Add to dashboard Cite

show abstract

“…Furthermore, it is entirely free and can be implemented in a UNIX operating system (e.g. Ubuntu) [16,17].…”

Section: Unicycle Robotmentioning

confidence: 99%

“…This means that the robot has three degrees of freedom, shown in Figure 2 (a). Also, the position and orientation of the robot is determined using a technique called odo-metry, which achieves it through a partial time [15][16][17]. One of the advantages of odo-metry is that it is simple, easily implemented and requires relatively few computational resources, which allows for an increase in the sampling time to determine the orientation of the mobile.…”

Section: Unicycle Robotmentioning

confidence: 99%

Design of a controller for wheeled mobile robots based on automatic movement sequencing

2020

View full text Add to dashboard Cite

There are many kinds of robots and among them the wheeled mobile robots (WMR) stand out, because they are relatively cheap and easy to build. These features make WMRs the test prototypes for control strategies or motion generation. In general, the controllers developed are based on sensory schemes that give an WMR the ability to travel through flat or obstructed environments. However, these strategies are highly reactive, i.e. they are based on the controlaction scheme and are not adaptive; or, they are motion schemes built from simulations that assume the environmental conditions to determine the robot's path. In both cases, WMRs do not adapt perfectly to the change of environment, since the controller does not find appropriate movements for the robot to move from one point to another. Therefore, this article proposesa partial solution to this problem, with a controller that generates sets of adaptive movements for an WMR to travel around its environment from the sensory perception information.

show abstract

Turtlebot at Office: A Service-Oriented Software Architecture for Personal Assistant Robots Using ROS

Cited by 33 publications

References 6 publications

Waypoint Mobile Robot Exploration Based on Biologically Inspired Algorithms

Waypoint Mobile Robot Exploration Based on Biologically Inspired Algorithms

A Software Architecture for Service Robots Manipulating Objects in Human Environments

Design of a controller for wheeled mobile robots based on automatic movement sequencing

Contact Info

Product

Resources

About