Survey of popular robotics simulators, frameworks, and toolkits

Harris, Adam; Conrad, James M.

doi:10.1109/secon.2011.5752942

Cited by 46 publications

(32 citation statements)

References 15 publications

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“…This fact implies that system (1) in closed loop with (6) achieves that ( , , ) → ( * , * , * ) when → ∞. Likewise, according to the stability analysis carried out in [98], it was shown that = 1/ 3 and ] * must be greater than 0.…”

Section: Control At the Highest Hierarchical Level: Mechanicalmentioning

confidence: 89%

“…As a matter of fact, diverse applications of WMRs have been reported in many fields like handling explosives or radioactive materials/waste, planetary and maritime exploration, mining and petrochemical industry, medicine, agriculture, home, and entertainment, among others [4][5][6][7]. On one hand, control of WMRs is not an easy task since their models are nonlinear and are subject to nonholonomic constraints [8,9].…”

Section: Introductionmentioning

confidence: 99%

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Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

et al. 2017

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The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR), actuators (DC motors), and power stage (DC/DC Buck power converters). The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ-Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.

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Section: Control At the Highest Hierarchical Level: Mechanicalmentioning

confidence: 89%

Section: Introductionmentioning

confidence: 99%

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

et al. 2017

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“…Harris et-al., [15] gives a good outline of the available simulators, frameworks and tool-kits. The authors suggest that most simulators are not well documented (for anything but Windows environments), have no sensors, or offer no possibilities for the integration of new robots, sensors, etc.…”

Section: B Simulationmentioning

confidence: 99%

An hyperreality imagination based reasoning and evaluation system (HIRES)

Rockel¹,

Klimentjew²,

Zhang³

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-In this work we ask whether an integrated system based on the concept of human imagination and realized as a hyperreal setup can improve system robustness and autonomy. In particular we focus on how non-nominal failures in a planning-based system can be detected before actual failure. To investigate, we integrated a system combining an accurate physics-based simulation, robust object recognition and a symbolic planner to achieve realistic prediction of robot actions. A Gazebo simulation was used to reason about and evaluate situations before and during plan execution. The simulation enabled re-planning to take place in advance of actual plan failure. We present a restaurant scenario in which our system prevents plan failure and successfully lets the robot serve a drink on a table cluttered with objects. The results give us confidence in our approach to improving situations where unavoidable abstractions of robot action planning meet the real world.

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“…The ROS software platform [1] is based around architectural principles common to many robotic software frameworks [2]: the abstraction of both hardware and software interfaces to facilitate code reuse and composition.…”

Section: A Rosmentioning

confidence: 99%

Stream-oriented robotics programming: The design of roshask

Cowley¹,

Taylor²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The decomposition of robotics software into a collection of loosely coupled processes has become a core design principle of virtually every large robotics software engineering effort over the past decade. Recently, the ROS software platform from Willow Garage has gained significant traction due to its adoption of sound design principles and significant software library contributions from Willow Garage itself. This paper describes a binding from the Haskell programming language to basic ROS interfaces. The novelty of these bindings is that they allow for, and encourage, a higher level of abstraction in writing programs for robots that treat streams of values as firstclass citizens. This approach makes the fusing, transforming, and filtering of streams fully generic and compositional while maintaining full compatibility with the existing ROS ecosystem.

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Survey of popular robotics simulators, frameworks, and toolkits

Cited by 46 publications

References 15 publications

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

An hyperreality imagination based reasoning and evaluation system (HIRES)

Stream-oriented robotics programming: The design of roshask

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