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ROBOTIK UND MECHATRONIK

Kategorie: ‘Mobile Robotik’

IGMR Seminar: Dr. Michael Cashmore – Plan-Based Robot Control in Real-Time

November 29th, 2020 | by

Plan-Based Robot Control in Real-Time
Bildquelle

 

Mit dem Vortrag von Dr. Miachel Cashmore von der University of Strathclyde startet die virtuelle IGMR Vortragsreihe im Wintersemester 20/21. Wir freuen uns auf einen Einblick in ROSPlan und Plan-Based Robot Control in Real-Time.

Mittwoch, 2. Dezember 2020 16:30 Uhr in Zoom
Zoom Meeting Informationen: 
https://rwth.zoom.us/j/98454895570?pwd=NkpiSWkyaTJtdWlralJrSUtnMDdDZz09
Meeting-ID: 984 5489 5570, Kenncode: 186393

Die Datenschutzhinweise zur Nutzung von Zoom und eine Handreichung für Teilnehmer (Studierende) können von den Seiten des CLS der RWTH Aachen University heruntergeladen werden.

The topic of the seminar will focus on the numerous temporal and numeric challenges that arise in plan execution. If a plan is produced with some flexibility, how it can be executed? In this context the properties of temporal controllability, robustness envelopes, replanning in-situ, and planning concurrently to execution, deliberation in a system of distributed components, in which your actions can affect other parts of a larger system will be discussed.

Die Veranstaltungen im Wintersemester 2020/2021 werden in Zusammenarbeit mit dem VDI-GPP-Arbeitskreis des Bezirksvereins Aachen durchgeführt.

Robot Companion: A mobile helper in case of need

October 2nd, 2020 | by

Robot Companion is a framework to implement robot tracking systems in a simple and cost-saving way. For this purpose, IGMR develops methods for tracking with different sensors (laser, radar, camera), agile path planning and actuation.

The current objective of Robot Companion is to provide a robot for emergency rescue. In doing so, the robot will autonomously follow first responders and enable the transport of materials and equipment, as well as the removal of debris and casualties. A first path to this vision was implemented with the basic module. The basic module has methods for tracking with a camera and laser, and enables autonomous tracking of an operator.

The video shows the tracks of the vertical and horizontal trackers, as well as the state of detection (top right). In a tracking test, 100% accuracy was achieved at low speeds.

Watch this video on YouTube.
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Project website:

https://www.igmr.rwth-aachen.de/index.php/de/rob/rob-comp

Contact:

Nils Mandischer

 

 

 

 

SLAM validation using iGPS

July 3rd, 2020 | by

For the validation of localization and mapping algorithms (SLAM) for mobile robots, we use at IGMR the indoor Global Positioning System from Nikon.
SLAM is a classical problem in mobile robotics and still a current and challenging research topic. The current developments are focused in improving SLAM algorithms with respect to a high accuracy, generality, and robustness. For this reason, we validate our SLAM algorithms for mobile robotics with the Nikon iGPS which is used to generate a ground truth with a frequency of 40 Hz and an accuracy of 0.2 mm. In this way, critical inaccuracies and loop closure methods can be much better quantified and analyzed.

Project page:
Bots2Rec

Contact person:
Simon Schläger

 

 

 

Execution of the planned actions in CoppeliaSim

June 19th, 2020 | by

Implementation of ROS Action Interfaces to connect the AI task planning framework ROSPlan with the simulation software CoppeliaSim

Contact person:

Stefan Bezrucav

Task planning in industrial scenario

June 19th, 2020 | by

PDDL modeling, ROSPlan and Gazebo simulations are used to improve automatic scheduling algorithms for scenarios with collaborating actors.

Contact person:

Stefan Bezrucav

Mobile DIY low cost robot for students

June 19th, 2020 | by

Robotics does not always mean expensive hardware. Even with simple hardware students can gain first experiences in mobile robotics.

Contact:

Tobias Haschke