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Introduction to Robotics
Niku offers comprehensive, yet concise coverage of robotics that will appeal to engineers. Robotic applications are drawn from a wide variety of fields. Emphasis is placed on design along with analysis and modeling. Kinematics and dynamics are covered extensively in an accessible style. Vision systems are discussed in detail, which is a cutting-edge area in robotics. Engineers will also find a running design project that reinforces the concepts by having them apply what they’ve learned.
Robot Intelligence Technology and Applications 6
This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on robotics and artificial intelligence. This book is based on a collection of papers presented at the 9th International Conference on Robot Intelligence Technology and Applications (RiTA), held at KAIST in Daejeon, Korea, in a hybrid format, on December 16–17, 2021. Humankind is getting through the third year of COVID-19 pandemic. While this pandemic has made everyone’s life so challenging, it has also expedited transition of our everyday lives into a new form, often called “the new normal.” Although many people often use the terminology, perhaps we still do not have a consensus about what it is and what is should be like. One thing that is clear is that robotics and artificial intelligence technologies are playing critical roles in this phase transition of our everyday lives. We see last-mile delivery robots on the street, AI-embedded service robots in the restaurants, uninhabited shops, non-face-to-face medical services, conferences and talks in metaverses and AI-based online education programs. For better readability, the total of 53 papers are grouped into four chapters: Chapter I: Motion Planning and Control; Chapter II: Design and Robot Application; Chapter III: Sensing, Perception and Recognition; and Chapter IV: Cognition, Autonomy and Intelligence. For those who have research on robot intelligence technology, we believe this book will help them understand the recent robot technologies and applications and enhance their study.
RobotTeamSim – 3D Visualization of Cooperative Mobile Robot Missions in Gazebo Virtual Environment
Author: Gonçalo Nuno dos Santos Augusto
language: en
Publisher: University of Coimbra
Release Date: 2013-09-01
This dissertation intends to create a simulation of search and rescue (SaR) missions using Gazebo virtual world and Robot Operating System (ROS). The simulator is evaluated with multiple robots search using the Robotic Darwinian Particle Swarm Optimization (RDPSO) exploration algorithm, considering several real-world phenomena, such as radio frequency (RF) and voice. Although the RDPSO algorithm has already been developed and evaluated in Matlab environment, it cannot be directly implemented in real platforms. To address this disadvantage, ROS was chosen to implement the algorithm and, due to its compatibility with ROS, Gazebo was chosen as the simulation platform to evaluate multi-robot systems in SaR scenarios. For the RDPSO to be fully implemented, the RF signal and voice propagation models were equally implemented in ROS. For that matter, mathematic models, previously proposed in the literature, are analyzed and a study about the environment noise influence in missions of SaR based on voice localization is conducted. The RF model was simulated using the multi-wall method, which does not only consider the free space signal loss but also the loss of walls with different properties (e.g., thickness and type). The voice model is based on the RF model by adjusting the parameters to better adapt to the voice properties. The RDPSO algorithm, implemented in ROS, uses the RF model to simulate its mobile ad hoc network (MANET) connectivity component. In the context of finding victims, the RDPSO uses the voice propagation model to simulate the call for help by the victims. Environment noise was introduced in the simulation, which influenced the victims’ rescue rate by making harder for the rescue team to listen to the victim’s call. This influence is bigger as the environment noise level gets higher, thus there is the need for a better exploration of the map as the rescue team has to walk closer and closer to the victims, so that voice and noise can be distinguished.