相关论文: ROScopter: A Multirotor Autopilot based on ROSflig…
A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…
OpenScout is an Open Source Hardware (OSH) mobile robot for research and industry. It is extended to v1.1 which includes simplified, cheaper and more powerful onboard compute hardware; a simulated ROS2 interface; and a Gazebo simulation.…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
An open-source vehicle testbed to enable the exploration of automation technologies for road vehicles is presented. The platform hardware and software, based on the Robot Operating System (ROS), are detailed. Two methods are discussed for…
Multicore timing interference, arising when multiple requests contend for the same shared hardware resources, is a primary concern for timing verification and validation of time-critical applications. Bandwidth control and regulation…
The complexity of today's robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and…
Control systems on unmanned vehicles are safety-critical systems whose requirements on reliability and safety are ever-increasing. Currently, testing a complex autonomous control system is an expensive and time-consuming process, which…
Agricultural UAV research requires simulators that integrate realistic 3D scenes, high-fidelity vehicle dynamics, and robotics middleware, while remaining practical to deploy across heterogeneous development machines. We present…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2…
The standard quadrotor is one of the most popular and widely used aerial vehicle of recent decades, offering great maneuverability with mechanical simplicity. However, the under-actuation characteristic limits its applications, especially…
The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by processing data from odometry, sensors and environment map.…
The advent of autonomous vehicle technologies has significantly impacted various sectors, including motorsport, where Formula Student and Formula: Society of Automotive Engineers introduced autonomous racing classes. These offer new…
In this paper, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in…
We present RoMoCo, an open-source C++ toolbox for the synthesis and evaluation of reduced-order model-based planners and whole-body controllers for bipedal and humanoid robots. RoMoCo's modular architecture unifies state-of-the-art planners…
There are many application fields for robotic systems including service robotics, search and rescue missions, industry and space robotics. As the scenarios in these areas grow more and more complex, there is a high demand for powerful tools…
The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…
ARCHYTAS aims to design and evaluate non-conventional hardware accelerators, in particular, optoelectronic, volatile and non-volatile processing-in-memory, and neuromorphic, to tackle the power, efficiency, and scalability bottlenecks of AI…
OpenPodcar is a low-cost, open source hardware and software, autonomous vehicle research platform based on an off-the-shelf, hard-canopy, mobility scooter donor vehicle. Hardware and software build instructions are provided to convert the…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…