Learning Maps for Indoor Mobile Robot Navigation
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Model Based Systems Engineering Approach to Autonomous Driving
DEGREE PROJECT IN ELECTRICAL ENGINEERING, SECOND CYCLE, 30 CREDITS STOCKHOLM, SWEDEN 2018 Model Based Systems Engineering Approach to Autonomous Driving Application of SysML for trajectory planning of autonomous vehicle SARANGI VEERMANI LEKAMANI KTH ROYAL INSTITUTE OF TECHNOLOGY SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE Author Sarangi Veeramani Lekamani [email protected] School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Place for Project Sodertalje, Sweden AVL MTC AB Examiner Ingo Sander School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Supervisor George Ungureanu School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Industrial Supervisor Hakan Sahin AVL MTC AB Abstract Model Based Systems Engineering (MBSE) approach aims at implementing various processes of Systems Engineering (SE) through diagrams that provide different perspectives of the same underlying system. This approach provides a basis that helps develop a complex system in a systematic manner. Thus, this thesis aims at deriving a system model through this approach for the purpose of autonomous driving, specifically focusing on developing the subsystem responsible for generating a feasible trajectory for a miniature vehicle, called AutoCar, to enable it to move towards a goal. The report provides a background on MBSE and System Modeling Language (SysML) which is used for modelling the system. With this background, an MBSE framework for AutoCar is derived and the overall system design is explained. This report further explains the concepts involved in autonomous trajectory planning followed by an introduction to Robot Operating System (ROS) and its application for trajectory planning of the system. The report concludes with a detailed analysis on the benefits of using this approach for developing a system. -
Towards Autonomous Localization of an Underwater Drone
TOWARDS AUTONOMOUS LOCALIZATION OF AN UNDERWATER DRONE A Thesis presented to the Faculty of California Polytechnic State University, San Luis Obispo In Partial Fulfillment of the Requirements for the Degree Master of Science in Computer Science by Nathan Sfard June 2018 c 2018 Nathan Sfard ALL RIGHTS RESERVED ii COMMITTEE MEMBERSHIP TITLE: Towards Autonomous Localization of an Underwater Drone AUTHOR: Nathan Sfard DATE SUBMITTED: June 2018 COMMITTEE CHAIR: Lynne Slivovsky, Ph.D. Professor of Computer Engineering COMMITTEE MEMBER: John Seng, Ph.D. Professor of Computer Science COMMITTEE MEMBER: Xiao-Hua Yu, Ph.D. Professor of Electrical Engineering iii ABSTRACT Towards Autonomous Localization of an Underwater Drone Nathan Sfard Autonomous vehicle navigation is a complex and challenging task. Land and aerial vehicles often use highly accurate GPS sensors to localize themselves in their envi- ronments. These sensors are ineffective in underwater environments due to signal attenuation. Autonomous underwater vehicles utilize one or more of the following approaches for successful localization and navigation: inertial/dead-reckoning, acous- tic signals, and geophysical data. This thesis examines autonomous localization in a simulated environment for an OpenROV Underwater Drone using a Kalman Fil- ter. This filter performs state estimation for a dead reckoning system exhibiting an additive error in location measurements. We evaluate the accuracy of this Kalman Filter by analyzing the effect each parameter has on accuracy, then choosing the best combination of parameter values to assess the overall accuracy of the Kalman Filter. We find that the two parameters with the greatest effects on the system are the con- stant acceleration and the measurement uncertainty of the system. -
Autonomous Robot Navigation in Highly Populated Pedestrian Zones
Autonomous Robot Navigation in Highly Populated Pedestrian Zones Rainer K¨ummerle Michael Ruhnke Department of Computer Science Department of Computer Science University of Freiburg University of Freiburg 79110 Freiburg, Germany 79110 Freiburg, Germany [email protected] [email protected] Bastian Steder Cyrill Stachniss Department of Computer Science Department of Computer Science University of Freiburg University of Freiburg 79110 Freiburg, Germany 79110 Freiburg, Germany [email protected] [email protected] Wolfram Burgard Department of Computer Science University of Freiburg 79110 Freiburg, Germany [email protected] Abstract In the past, there has been a tremendous progress in the area of autonomous robot naviga- tion and a large variety of robots have been developed who demonstrated robust navigation capabilities indoors, in non-urban outdoor environments, or on roads and relatively few ap- proaches focus on navigation in urban environments such as city centers. Urban areas, how- ever, introduce numerous challenges for autonomous robots as they are rather unstructured and dynamic. In this paper, we present a navigation system for mobile robots designed to operate in crowded city environments and pedestrian zones. We describe the different com- ponents of this system including a SLAM module for dealing with huge maps of city centers, a planning component for inferring feasible paths taking also into account the traversability and type of terrain, a module for accurate localization in dynamic environments, and means for calibrating and monitoring the platform. Our navigation system has been implemented and tested in several large-scale field tests, in which a real robot autonomously navigated over several kilometers in a complex urban environment. -
Educational Outdoor Mobile Robot for Trash Pickup
Educational Outdoor Mobile Robot for Trash Pickup Kiran Pattanashetty, Kamal P. Balaji, and Shunmugham R Pandian, Senior Member, IEEE Department of Electrical and Electronics Engineering Indian Institute of Information Technology, Design and Manufacturing-Kancheepuram Chennai 600127, Tamil Nadu, India [email protected] Abstract— Machines in general and robots in particular, programs to motivate and retain students [3]. The playful appeal greatly to children and youth. With the widespread learning potential of robotics (and the related field of availability of low-cost open source hardware and free open mechatronics) means that college students could be involved source software, robotics has become central to the promotion of in service learning through introducing school children to STEM education in schools, and active learning at design, machines, robots, electronics, computers, college/university level. With robots, children in developed countries gain from technological immersion, or exposure to the programming, environmental literacy, and so on, e.g., [4], [5]. latest technologies and gadgets. Yet, developing countries like A comprehensive review of studies on introducing robotics in India still lag in the use of robots at school and even college level. K-12 STEM education is presented by Karim, et al [6]. It In this paper, an innovative and low-cost educational outdoor concludes that robots play a positive role in educational mobile robot is developed for deployment by school children learning, and promote creative thinking and problem solving during volunteer trash pickup. The wheeled mobile robot is skills. It also identifies the need for standardized evaluation constructed with inexpensive commercial off-the-shelf techniques on the effectiveness of robotics-based learning, and components, including single board computer and miscellaneous for tailored pedagogical modules and teacher training. -
The `Icebreaker' Challenge for Social Robotics
The ‘Icebreaker’ Challenge for Social Robotics Weronika Sieińska, Nancie Gunson, Christian Dondrup, and Oliver Lemon∗ (w.sieinska;n.gunson;c.dondrup;o.lemon)@hw.ac.uk School of Mathematical and Computer Sciences, Heriot-Watt University Edinburgh, UK ABSTRACT time where they are sitting in a common waiting room, waiting to Loneliness in the elderly is increasingly becoming an issue in mod- be called for their appointments. While waiting, the vast majority ern society. Moreover, the number of older adults is forecast to of patients sit quietly until their next appointment. We aim to increase over the next decades while the number of working-age deploy a robot to this waiting room that can not only give patients adults will decrease. In order to support the healthcare sector, So- information about their next appointment (thus reducing anxiety) cially Assistive Robots (SARs) will become a necessity. We propose and guide them to it, but which also involves them in more general the multi-party conversational robot ‘icebreaker’ challenge for NLG dialogue using open-domain social chit-chat. The challenge we and HRI that is not only aimed at increasing rapport and acceptance propose is to use non-intrusive general social conversation [6] to of robots amongst older adults but also aims to tackle the issue of involve other people, e.g. another patient sitting next to the patient loneliness by encouraging humans to talk with each other. we are already talking to, in the conversation with the robot. Hence we aim to ‘break the ice’ and get both patients to talk together 1 INTRODUCTION in this multi-party interaction. -
A Neural Schema Architecture for Autonomous Robots
A Neural Schema Architecture for Autonomous Robots Alfredo Weitzenfeld División Académica de Computación Instituto Tecnológico Autónomo de México Río Hondo #1, San Angel Tizapán México, DF, CP 01000, MEXICO Email: [email protected] Ronald Arkin College of Computing Georgia Institute of Technology Atlanta, GA 30332-0280, USA Email: [email protected] Francisco Cervantes División Académica de Computación Instituto Tecnológico Autónomo de México Río Hondo #1, San Angel Tizapán México, DF, CP 01000, MEXICO Email: [email protected] Roberto Olivares College of Computing Georgia Institute of Technology Atlanta, GA 30332-0280, USA Email: [email protected] Fernando Corbacho Departamento de Ingeniería Informática Universidad Autónoma de Madrid 28049 Madrid, ESPAÑA Email: [email protected] Areas: Robotics, Agent-oriented programming, Neural Nets Acknowledgements This research is supported by the National Science Foundation in the U.S. (Grant #IRI-9505864) and CONACyT in Mexico (Grant #546500-5-C006-A). A Neural Schema Architecture for Autonomous Robots Abstract As autonomous robots become more complex in their behavior, more sophisticated software architectures are required to support the ever more sophisticated robotics software. These software architectures must support complex behaviors involving adaptation and learning, implemented, in particular, by neural networks. We present in this paper a neural based schema [2] software architecture for the development and execution of autonomous robots in both simulated and real worlds. This architecture has been developed in the context of adaptive robotic agents, ecological robots [6], cooperating and competing with each other in adapting to their environment. The architecture is the result of integrating a number of development and execution systems: NSL, a neural simulation language; ASL, an abstract schema language; and MissionLab, a schema-based mission-oriented simulation and robot system. -
Toward Automatic Reconfiguration of Robot-Sensor Networks for Urban
Toward Automatic Reconfiguration of Robot-Sensor Networks for Urban Search and Rescue Joshua Reich Elizabeth Sklar Department of Computer Science Dept of Computer and Information Science Columbia University Brooklyn College, City University of New York 1214 Amsterdam Ave, New York NY 10027 USA 2900 Bedford Ave, Brooklyn NY, 11210 USA [email protected] [email protected] ABSTRACT that information be able, eventually, to make its way to An urban search and rescue environment is generally ex- designated “contact” nodes which can transmit signals back plored with two high-level goals: first, to map the space in to a “home base”. It is advantageous for the network to pos- three dimensions using a local, relative coordinate frame of sess reliable and complete end-to-end network connectivity; reference; and second, to identify targets within that space, however, even when the network is not fully connected, mo- such as human victims, data recorders, suspected terror- bile robots may act as conduits of information — either by ist devices or other valuable or possibly hazardous objects. positioning themselves tactically to fill connectivity gaps, or The work presented here considers a team of heterogeneous by distributing information as they physically travel around agents and examines strategies in which a potentially very the network space. This strategy also enables replacement large number of small, simple, sensor agents with limited of failed nodes and dynamic modification of network topol- mobility are deployed by a smaller number of larger robotic ogy to provide not only greater network connectivity but agents with limited sensing capabilities but enhanced mo- also improved area coverage. -
Autonomous Amphibious Robot Navigation Through the Littoral Zone
AUTONOMOUS AMPHIBIOUS ROBOT NAVIGATION THROUGH THE LITTORAL ZONE by Mark Borg A thesis submitted to the School of Graduate and Postdoctoral Studies in partial fulfillment of the requirements for the degree of PhD in Mechanical Engineering The Faculty of Engineering and Applied Science Mechanical Engineering University of Ontario Institute of Technology (Ontario Tech University) Oshawa, Ontario, Canada March 2021 © Mark Borg, 2021 THESIS EXAMINATION INFORMATION Submitted by: Mark Borg PhD in Mechanical Engineering Thesis title: AUTONOMOUS AMPHIBIOUS ROBOT NAVIGATION THROUGH THE LITTORAL ZONE An oral defense of this thesis took place on March 4, 2021 in front of the following examining committee: Examining Committee: Chair of Examining Committee Dr. Amirkianoosh Kiani Research Supervisor Dr. Scott Nokleby Examining Committee Member Dr. Remon Pop-Iliev Examining Committee Member Dr. Haoxiang Lang University Examiner Dr. Jing Ren External Examiner Dr. Brad Buckham, University of Victoria The above committee determined that the thesis is acceptable in form and content and that a satisfactory knowledge of the field covered by the thesis was demonstrated by the candidate during an oral examination. A signed copy of the Certificate of Approval is available from the School of Graduate and Postdoctoral Studies. ii ABSTRACT The majority of autonomous robotic research is performed on aerial and land based robots. Robots that operate above or below the water are less prevalent in the re-search. This is due to the complexity of the environment that water introduces to a robot. An outdoor, natural setting, which includes water, will present multiple, fluctuating variables to the robot. These variables can include, but are not limited to, temperature, height, location, amount of flotation, causticity, and clarity. -
Navigation of Mobile Robots Using Artificial Intelligence Technique
Navigation of Mobile Robots Using Artificial Intelligence Technique A THESIS SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF Bachelor of Technology in Mechanical Engineering By Rishi Gupta & Ashish Namdeo Pendam Department of Mechanical Engineering National Institute of Technology Rourkela 2007 1 Navigation of Mobile Robots Using Artificial Intelligence Technique A THESIS SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF Bachelor of Technology In Mechanical Engineering By Rishi Gupta & Ashish Namdeo Pendam Under the guidance of: S.K.Patel Department of Mechanical Engineering National Institute of Technology Rourkela 2007 2 National Institute of Technology Rourkela CERTIFICATE This is to certify that the thesis entitled “Navigation of mobile robots using artificial intelligence technique.’’ submitted by Rishi Gupta, Roll No: 10303063 and Ashish Namdeo Pendam , Roll No: 10303064 in the partial fulfillment of the requirement for the degree of Bachelor of Technology in Mechanical Engineering, National Institute of Technology, Rourkela , is being carried out under my supervision. To the best of my knowledge the matter embodied in the thesis has not been submitted to any other university/institute for the award of any degree or diploma. Date Professor S.K.Patel Department of Mechanical Engineering National Institute of Technology Rourkela-769008 3 Acknowledgment We avail this opportunity to extend our hearty indebtedness to our guide Professor S. K. Patel, Mechanical Engineering Department & Professor D.R.K.Parhi Mechanical Engineering Department, for their valuable guidance, constant encouragement and kind help at different stages for the execution of this dissertation work. We also express our sincere gratitude to Dr. -
Integrating Topological and Metric Maps for Mobile Robot Navigation: a Statistical Approach
From: AAAI-98 Proceedings. Copyright © 1998, AAAI (www.aaai.org). All rights reserved. Integrating Topological and Metric Maps for Mobile Robot Navigation: A Statistical Approach Sebastian Thrun1 Jens-Steffen Gutmann2 Dieter Fox3 Wolfram Burgard3 Benjamin J. Kuipers4 1Computer Science Department 2Institut f¨ur Informatik 3Institut f¨ur Informatik III 4Computer Science Department Carnegie Mellon University Universit¨at Freiburg University of Bonn University of Texas at Austin Pittsburgh, PA 15213 D-79110 Freiburg, Germany D-53117 Bonn, Germany Austin, TX 78712 Abstract array, and more directly suited to problem-solving algo- rithms (Kuipers & Byun 1991; Dudek et al. 1991). How- The problem of concurrent mapping and localization has re- ever, purely topological maps have difficulty distinguish- ceived considerable attention in the mobile robotics commu- ing adequately among different places, and have not, in nity. Existing approaches can largely be grouped into two dis- tinct paradigms: topological and metric. This paper proposes practice, been applied successfully to large environments. a method that integrates both. It poses the mapping problem as Recent progress in metric mapping (Lu & Milios 1997; a statistical maximum likelihood problem, and devises an ef- Thrun 1998) has made it possible to build useful and ac- ficient algorithm for search in likelihood space. It presents an curate metric maps of reasonably large-scale environments, novel mapping algorithm that integrates two phases: a topo- but memory and time complexity pose serious problems. logical and a metric mapping phase. The topological mapping In this paper, we propose and evaluate a new algorithmthat phase solves a global position alignment problem between po- integrates the topologicaland metric approach. -
Feature-Based Robot Navigation in Known and Unknown Environments
FEATURE-BASED ROBOT NAVIGATION IN KNOWN AND UNKNOWN ENVIRONMENTS THÈSE N° 2765 (2003) PRÉSENTÉE À LA FACULTÉ SCIENCES ET TECHNIQUES DE L’INGENIEUR SECTION DE MICROTECHNIQUE ÉCOLE POLYTECHNIQUE FÉDÉRALE DE LAUSANNE POUR L’OBTENTION DU GRADE DE DOCTEUR ÈS SCIENCES PAR Kai Oliver ARRAS Dipl. El.-Ing ETH et de nationalité allemande acceptée sur proposition du jury: Prof. R. Siegwart, directeur de thèse Prof. W. Burgard, rapporteur Prof. H. Christensen, rapporteur Prof. J. Crowley, rapporteur Prof. D. Floreano, rapporteur Prof. J. Leonard, rapporteur Lausanne, EPFL 2003 Acknowledgements This thesis is a result of my efforts as a research assistant and doctoral student at the Au- tonomous Systems Lab of the Swiss Federal Institute of Technology Lausanne (EPFL). During that time, I have been supported by various people to whom I wish to express my gratitude. I am indebted to Prof. Roland Siegwart; he offered me the possibility to work in a liberal environment and gave me the freedom to conduct my research in an independent way. His receptiveness to new and different ideas and his willingness to leave them space and time were always important sources of inspiration and motivation. Thanks to him I also learned that “café au lait” has nothing to do with Spain. I would also like to thank Prof. Wolfram Burgard, Prof. Henrik I. Christensen, Prof. James L. Crowley, Prof. Dario Floreano and Prof. John J. Leonard for being my (very com- petent) co-examiners. Many people have contributed to this thesis: Thanks to Sjur Vestli for putting me on the track and being more than an important catalyst, Nicola Tomatis for his contribution in our collaboration on Pygmalion and giving eyesight to the robot, Gilles Caprari for our collab- oration on his sugar-cube robot Alice and Jan “3d” Weingarten for the delightful finding that this thesis is about 2d navigation only. -
Mobile Robot Localization and Navigation in Artificial Intelligence: Survey
Mobile Robot Localization and Navigation in Artificial Intelligence: Survey G. Nirmala1, Dr. S. Geetha2, Dr. S. Selvakumar 3* 1Assistant Professor, Kamaraj College of Engineering and Technology, Virudhunagar, Tamil Nadu, India. [email protected] 2Professor, School of Computing Science and Engineering, VIT University- Chennai Campus, Chennai, Tamil Nadu, India 3Professor, G.K.M. College of Engineering and Technology, Chennai, Tamil Nadu, India Abstract The potential applications for mobile robots are enormous. The mobile robots must quickly and robustly perform useful tasks in a previously unknown, dynamic and challenging environment. Mobile robot navigation plays a key role in all mobile robot activities and tasks such as path planning. Mobile robots are machines which navigate around their environment getting sensory information about that environment and performing actions dependent on this sensory information. Localization is basic to navigation. Various techniques have been described for estimating the orientation and positioning of a mobile robot. Navigation may be defined as the process of guiding the movement of intelligent vehicle systems from one location to another location with the support of various types of sensors to the different environments such as indoor, outdoor and other complex environments by using various navigation methods. This paper reviews the following mobile robot systems which are used in navigation for localization (1) Odometry (2) Magnetic compass (3) Active beacons (4) Global positioning system (5) Landmark navigation (6) Pattern matching. Keywords: Mobile Robot, Navigation, Localization. 1. Introduction In mobile robotics applications that require an autonomous steering system, localization and navigation are generally regarded as the fundamental problems. The previous existence of a map from the region to be explored by the robot can greatly improve the solutions for this problem, as it can reduce or even suppress, in certain cases – the accumulated localization errors created by dead-reckoning techniques [1].