Robotics Tools

https://sites.google.com/site/sunglok/rv_tool/robot

Robotics Tools

Contents

1. 1 Robotics Tutorials
2. 2 Robot Software Platforms (Middleware)
3. 3 Robot Simulators
4. 4 Robot Navigation Libraries
5. 5 Localization and Mapping (SLAM)
6. 6 Global Path Planning
7. 7 Local Path Planning (Obstacle Avoidance)
8. 8 Path Following and Tracking
9. 9 AI Games and Task Simulators

Robotics Tutorials

• Springer Handbook of Robotics, Bruno Siciliano and Oussama Khatib: The great and comprehensive book on robotics
• RoboticsCourseWare.org
• Control Systems and Control Engineering, Wikibook

Robot Software Platforms (Middleware)

• ROS (Robot Operating System), Willow Garage: The most popular software platform
• RDS (Robotics Developer Studio), Microsoft
• OpenRTM-aist (Open Real-Time Middleware), AIST
• The Orocos Project (Open Robot Control Software)
  • It includes  Kinematics/Dynamics Library (KDL),  BFL (Bayesian Filtering Library), and Orocos Toolchain including real-time component support.
• MOOS (Mission Oriented Operating System), Oxford Mobile Robotics Group
• OPRoS (Open Platform for Robotic Services),  Kangwon Univ, ETRI, and  KITECH
  • Robot ASAP: A Facebook club for OPRoS and NRHP
• Robot Middleware Comparison Table (See Table 2)
• c.f. Software Architectures
  • OpenJAUS (Open Joint Architecture for Unmanned System)
• c.f. Commercial Products
  • ARIA (Advanced Robot Interface for Applications), MobileRobots
  • ERSP (Evolution Robotics Software Platform), Evolution Robotics

Robot Simulators

• The Player Project
  • It includes Player (robot and device interface), Stage (2.5D simulator), and Gazebo (3D simulator).
• MORSE (Modular OpenRobots Simulation Engine), LAAS-CNRS
• V-REP (Virtual Robot Experimentation Platform), Coppelia Robotics
• OpenRAVE, CMU
• Robotic Toolbox for MATLAB, Peter Corke
• ODE (Open Dynamic Engine)
• c.f. Commercial Products
  • Webots, Cyberbotics
  • RoboticsLab, SimLab

Robot Navigation Libraries

• MRPT (The Mobile Robot Programming Toolkit), University of Malaga
• Karto SDK, SRI International
• uRON (Universial Robot Navigation Library), ETRI
• Carmen (Carnegie Mellon Robot Navigation Toolkit), CMU
• ARNL and Mapper, MobileRobots: Limited access to its robot users

Localization and Mapping (SLAM)

• Probabilistic Robotics, Thrun et al.: One of the greatest books in robot navigation
  • Its homepage contains lecture slides which summarize the book.
• Bayesian Filtering
  • Orocos Bayesian Filtering Library, The Orocos Project
  • Bayes++, Michael Stevens
  • The Kalman Filter, Greg Welch
• Localization using Landmarks
  • Triangulation Toolbox, Sunglok Choi
• Localization using Range Data
  • Features
    • April Toolkit contains line and contour extractor in Java language.
    • Performance Evaluation on Line Extractions, Nguyen et al.
  • Scan Matching (Map Matching)
    • ICP and SoG (Iterative Closest Point and Sum of Gaussians), Tim Bailey
    • PSM (Polar Scan Matching), Albert Diosi
    • April Toolkit contains various scan matchers in Java language.
• Localization using WiFi Signal
  • Wi-Fi Location-based Services 4.1 Design Guide, CISCO
  • The Rice Wireless Localization Toolkit
  • c.f. Commercial products: PlaceEngine, WiFi SLAM
• SLAM
  • SSS (SLAM Summer School): 2002, 2004, 2006, 2009
  • RSS 2011 Workshop on Automated SLAM Evaluation
  • OpenSLAM.org
    • EKF-/Fast-/UKF-SLAM Package, Tim Bailey
    • GraphSLAM Comparison Table, Sunglok Choi
  • FABMAP (Fast Appearance-based Mapping), Mark Cummins
    • There is another open-source implementation, OpenFABMAP.
• Map Representation
  • OctoMap, Kai Wurm: 3D map representation

Global Path Planning

• Planning Algorithms, Steve LaValle: A book
• Amit's A* Page, Amit Patel
• The RRT Page, Steve LaValle
• Research Groups
  • Projects by Sven Koenig, USC
  • Publication by Maxim Likhachev, CMU
  • Publication by Steve LaValle, UIUC
  • Research by James Kuffner, CMU
  • Publication by Anthony Stentz, CMU
• Software
  • OMPL (Open Motion Planning Library), Lydia Kavraki
  • SBPL (Search-based Planning Algorithm, ROS package), Maxim Likhachev
  • D* Lite
  • Field D*, Micheal Otte and Greg Grudic
  • E* Interpolated Graph Replanner, Roland Philippsen
  • OpenPRM
  • Efficient Sampling-based Motion Planning (RRT and RRT*), MIT
  • Motion Strategy Library, Steve LaValle
  • MPK (Motion Planning Kit), M. Saha
  • A Simple Sampling-based Path Planning Library, TUM
  • c.f. Game AI Engines: Havok AI, Autodesk Kynapse, PathEngine

Local Path Planning (Obstacle Avoidance)

• RVO2 Library (Reciprocal Collision Avoidance for Real-Time Multi-Agent Simulation), Jamie Snape

Path Following and Tracking

• Performance Evaluation on Path Tracking in Car-like Vehicles, Jarrod M. Snider

AI Games and Task Simulators

• RoboCup Rescue Simulation League, RoboCup Wiki
  • RoboCup Rescue Wiki
  • USARSim MATLAB Toolbox, Drexel Univ.
• Robocode
• Google AI Challenge