Paper Info
Title
Development of Mobile Robots Using Off-the-Shelf Open-Source Hardware and Software Components for Motion and Pose Tracking
Abstract
Robot development could benefit from reuse of hardware and software components. One of the most successful example is the Robot Operating System (ROS), which aims at supporting robot development and research in robotics by providing a modular and general purpose software framework; yet, at a lower level, i.e., mechanics, electronics, and firmware, component-based robotics is still in its early stages. Moreover, basic functionalities, such as robust odometry and pose tracking, seem to be solved on an ad-hoc basis, while no generic solution can be plugged in a system as an off-the-shelf component. This paper presents two modular tools for the development of robotics applications and how these can be deployed on different robot platforms as off-the-shelf, open hardware and open software, components at the hardware, firmware, and core software levels. A case study based on two mobile platforms is described showing how it is possible to reuse physical components in the building of a mobile robot and provide an off-the-shelf architecture which sports multi-sensor fusion for robust odometry and pose tracking, requiring a fraction of the effort with respect to ad hoc techniques.
Year
DOI
Venue
2014
10.1007/978-3-319-08338-4_104
INTELLIGENT AUTONOMOUS SYSTEMS 13
Field
DocType
Volume
Computer science,Odometry,Artificial intelligence,Component-based software engineering,Robot,Mobile robot,Robotics,Open source hardware,Software framework,Firmware,Embedded system
Conference
302
ISSN
Citations 
PageRank 
2194-5357
0
0.34
References 
Authors
5
4
Name
Order
Citations
PageRank
Davide Cucci183.17
Martino Migliavacca2102.82
Andrea Bonarini362376.73
Matteo Matteucci464180.97