MIRA - middleware for robotic applications

Einhorn, E.; Langner, Tim Dipl.-Inf.; Stricker, Ronny; Märtin, Christian; Groß, Horst–Michael

doi:10.1109/iros.2012.6385959

Cited by 56 publications

(25 citation statements)

References 8 publications

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“…sensors of the apartment and robots), to plan the robot's action and to allow users to interact with the system. Each robot runs ROS and the Metralabs MIRA [21] middlewares, the first is used for connecting the additional devices mounted on the robots (e.g. Asus Xtion, LEDs), while the second supports the CogniDrive navigation software that moves the robots.…”

Section: User-centred Design Of the Robot-era Multi-modal Interfacementioning

confidence: 99%

The multi-modal interface of Robot-Era multi-robot services tailored for the elderly

Nuovo

Broz

Wang

et al. 2017

Intel Serv Robotics

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Socially assistive robotic platforms are now a realistic option for the long-term care of ageing populations. Elderly users may benefit from many services provided by robots operating in different environments, such as providing assistance inside apartments, serving in shared facilities of buildings or guiding people outdoors. In this paper, we IDLab, IMEC, Ghent University, Ghent, Belgium present the experience gained within the EU FP7 ROBOT-ERA project towards the objective of implementing easy-touse and acceptable service robotic system for the elderly. In particular, we detail the user-centred design and the experimental evaluation in realistic environments of a webbased multi-modal user interface tailored for elderly users of near future multi-robot services. Experimental results demonstrate positive evaluation of usability and willingness to use by elderly users, especially those less experienced with technological devices who could benefit more from the adoption of robotic services. Further analyses showed how multi-modal modes of interaction support more flexible and natural elderly-robot interaction, make clear the benefits for the users and, therefore, increase its acceptability. Finally, we provide insights and lessons learned from the extensive experimentation, which, to the best of our knowledge, is one of the largest experimentation of a multi-robot multi-service system so far.

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Section: User-centred Design Of the Robot-era Multi-modal Interfacementioning

confidence: 99%

The multi-modal interface of Robot-Era multi-robot services tailored for the elderly

Nuovo

Broz

Wang

et al. 2017

Intel Serv Robotics

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show abstract

“…The data sets are given in form of MIRA tapes [24] and contain rectified RGB images of the fish-eye front camera, LRF data, 3d range data of the Kinect sensor (Tab. I), intrinsic and Fig.…”

Section: Methodsmentioning

confidence: 99%

People Tracking on a Mobile Companion Robot

Volkhardt

Weinrich

Groß

2013

2013 IEEE International Conference on Systems, Man, and Cybernetics

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Developing methods for people tracking on mobile robots is of great interest to engineers and scientists alike. Plenty of research is focused on pedestrian tracking in public areas. Yet, fewer work exists on practical people tracking in home environments with non-static cameras. This paper presents a realtime people tracking system for mobile robots that filters asynchronous, multi-modal detections using a Kalman filter for each person. It allows for upright and sitting pose people tracking in home environments. We evaluate the performance of the tracking system using different detection modalities and compared it to state-of-the-art people detection methods. Evaluation was done on a newly collected indoor data set which we made publicly available for comparison and benchmarking.

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“…They are rarely employed in robotics because they lack specific components and have a steep learning curve. Robotics middleware [OROCOS (Bruyninckx, 2001), Player (Collett et al, 2005), YARP , Orca (Brooks et al, 2005), ROS (Quigley et al, 2009), OpenRDK (Calisi et al, 2012), Mira (Einhorn et al, 2012), LCM (Huang et al, 2010) to mention just a few] provide a subset of communication paradigms (Remote Procedure Call and/or publish-subscribe). Some middleware defines interfaces for families of devices (Collett et al, 2005) for better modularity and portability.…”

Section: Middlewarementioning

confidence: 99%

The iCub Software Architecture: Evolution and Lessons Learned

et al. 2016

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The complexity of humanoid robots is increasing with the availability of new sensors, embedded CPUs, and actuators. This wealth of technologies allows researchers to investigate new problems like multi-modal sensory fusion, whole-body control and multimodal human-robot interaction. Under the hood of these robots, the software architecture has an important role: it allows researchers to get access to the robot functionalities focusing primarily on their research problems and supports code reuse to minimize development and debugging, especially when new hardware becomes available. But more importantly, it allows increasing the complexity of the experiments that can be carried out before system integration becomes unmanageable, and debugging draws more resources than research itself. In this paper, we illustrate the software architecture of the iCub humanoid robot and the software engineering best practices that have emerged driven by the needs of our research community. We describe the latest development of the middleware supporting interface definition and automatic code generation, logging, ROS compatibility, and channel prioritization. We show the robot abstraction layer and how it has been modified to better address the requirements of the users and to support new hardware as it became available. We also describe the testing framework, and we have recently adopted for developing code using a test-driven methodology. We conclude the paper discussing the lessons we learned during the past 11 years of software development on the iCub humanoid robot.

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MIRA - middleware for robotic applications

Cited by 56 publications

References 8 publications

The multi-modal interface of Robot-Era multi-robot services tailored for the elderly

The multi-modal interface of Robot-Era multi-robot services tailored for the elderly

People Tracking on a Mobile Companion Robot

The iCub Software Architecture: Evolution and Lessons Learned

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