Relevant bibliographies by topics / ROS/Gazebo

Academic literature on the topic 'ROS/Gazebo'

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Published: 4 May 2024

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Journal articles on the topic "ROS/Gazebo"

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Agha, Rawan A. AlRashid, Zhwan Hani Mahdi, Muhammed N. Sefer, and Ibrahim Hamarash. "A ROS-Gazebo Interface for the Katana Robotic Arm Manipulation." UKH Journal of Science and Engineering 5, no. 1 (June 30, 2021): 26–37. http://dx.doi.org/10.25079/ukhjse.v5n1y2021.pp26-37.

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Nowadays, simulators are being used more and more during the development of robotic systems due to the efficiency of the development and testing processes of such applications. Undoubtedly, these simulators save time, resources and costs, as well as enable ease of demonstrations of the system. Specifically, tools like the open source Robotic Operating System (ROS) and Gazebo have gained popularity in building models of robotic systems. ROS is extensively used in robotics due to the pros of hardware abstraction and code reuse. The Gazebo platform is used for visualisation because of its high compatibility with ROS. In this paper, ROS and Gazebo have been integrated to build an interface for the visualisation of the Katana Arm manipulator.
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Kinouchi, Yusuke, Hiroyoshi Kojima, Tatsuya Hashimoto, Takayuki Ono, Takayuki Koyama, Kenji Hashimoto, and Atsuo Takanishi. "Robots utilizing ROS/Gazebo in Mitsubishi Heavy Industries." Journal of the Robotics Society of Japan 35, no. 4 (2017): 276–79. http://dx.doi.org/10.7210/jrsj.35.276.

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Rivera, Zandra B., Marco C. De Simone, and Domenico Guida. "Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments." Machines 7, no. 2 (June 14, 2019): 42. http://dx.doi.org/10.3390/machines7020042.

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The fusion of different technologies is the base of the fourth industrial revolution. Companies are encouraged to integrate new tools in their production processes in order to improve working conditions and increase productivity and production quality. The integration between information, communication technologies and industrial automation can create highly flexible production models for products and services that can be customized through real-time interactions between consumer, production and machinery throughout the production process. The future of production, therefore, depends on increasingly intelligent machinery through the use of digital systems. The key elements for future integrated devices are intelligent systems and machines, based on human–machine interaction and information sharing. To do so, the implementation of shared languages that allow different systems to dialogue in a simple way is necessary. In this perspective, the use of advanced prototyping tools like Open-Source programming systems, the development of more detailed multibody models through the use of CAD software and the use of self-learning techniques will allow for developing a new class of machines capable of revolutionizing our companies. The purpose of this paper is to present a waypoint navigation activity of a custom Wheeled Mobile Robot (WMR) in an available simulated 3D indoor environment by using the Gazebo simulator. Gazebo was developed in 2002 at the University of Southern California. The idea was to create a high-fidelity simulator that gave the possibility to simulate robots in outdoor environments under various conditions. In particular, we wanted to test the high-performance physics Open Dynamics Engine (ODE) and the sensors feature present in Gazebo for prototype development activities. This choice was made for the possibility of emulating not only the system under analysis, but also the world in which the robot will operate. Furthermore, the integration tools available with Solidworks and Matlab-Simulink, well known commercial platforms of modelling and robotics control respectively, are also explored.
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Andrean, Danu, and Nuryono Satya Widodo. "Simulation and Implementation of RSCUAD Walking Robot Based on ROS and Gazebo Simulator." Control Systems and Optimization Letters 1, no. 2 (July 18, 2023): 93–98. http://dx.doi.org/10.59247/csol.v1i2.32.

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This research describes the virtual humanoid robot R-SCUAD using the Gazebo simulator. In its development, humanoid robots often perform movements that have a negative impact on the robot's hardware, therefore the development of a virtual robot model is a solution to overcome this problem. So that the robot can be simulated before running. Gazebo is a robot simulator that allows to accurately simulate, design and test robots in various environments. Gazebo itself is a simulation used by ROS (robotic operating system). The simulation is built by doing a 3D design process in solidwork software and exported to a URDF file that matches the format on the ROS. Tests carried out on robots are by comparing virtual robots with real robots. From the tests carried out on the robot, it was found that the virtual robot can walk according to the real robot, such as falling if the robot's condition is not balanced. The simulation robot also moves according to the real robot when the controls are carried out.
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Pineda Torres, Franklin, and Luis Alejandro Arias Barragán. "PRM navigation in trading drone and Gazebo simulation." Visión electrónica 14, no. 1 (January 31, 2020): 43–50. http://dx.doi.org/10.14483/22484728.16494.

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Starting from a commercial drone AR Dron Parrot 2.0, an autonomous navigation process is developed with a PRM probabilistic route planner in real time, through a ROS network between the drone and the Gazebo simulation software. Using the robotics system toolbox from software Matlab that interacts with Gazebo, it is possible to study the desired trajectory planner, in addition, the creation and connection of the ROS network on the Linux operating system, where the navigation algorithm is analyzed from the practical vs., simulation points of views. The errors that are presented are minimal, taking into account the propagation delays and the control algorithm; this is in charge of receiving location information in order to correct and minimized the mean square error.
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Uslu, Erkan, Furkan Çakmak, Nihal Altuntaş, Salih Marangoz, Mehmet Fatih Amasyalı, and Sırma Yavuz. "An architecture for multi-robot localization and mapping in the Gazebo/Robot Operating System simulation environment." SIMULATION 93, no. 9 (June 6, 2017): 771–80. http://dx.doi.org/10.1177/0037549717710098.

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Robots are an important part of urban search and rescue tasks. World wide attention has been given to developing capable physical platforms that would be beneficial for rescue teams. It is evident that use of multi-robots increases the effectiveness of these systems. The Robot Operating System (ROS) is becoming a standard platform for the robotics research community for both physical robots and simulation environments. Gazebo, with connectivity to the ROS, is a three-dimensional simulation environment that is also becoming a standard. Several simultaneous localization and mapping algorithms are implemented in the ROS; however, there is no multi-robot mapping implementation. In this work, two multi-robot mapping algorithm implementations are presented, namely multi-robot gMapping and multi-robot Hector Mapping. The multi-robot implementations are tested in the Gazebo simulation environment. Also, in order to achieve a more realistic simulation, every incremental robot movement is modeled with rotational and translational noise.
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Vujić, Đorđe. "SIMULACIJA ROBOTA BAZIRANOG NA DIFERENCIJALNOM POGONU KORIŠĆENJEM GAZEBO SIMULATORA I ROS-A." Zbornik radova Fakulteta tehničkih nauka u Novom Sadu 37, no. 04 (April 8, 2022): 661–65. http://dx.doi.org/10.24867/17be17vujic.

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U ovom radu razvijen je simulator robota sa diferencijalnim pogonom, uz oslonac na Gazebo platformu za simulaciju robotskih aplikacija i robotski operativnisistem (ROS). Razvijenim simulatorom se posebno razmatra sprega ova dva alata. Analiza rezultata vršena je korišćenjem raznih alata kompatibilnih sa robotskim operativnim sistemom.
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Jalil, Abdul. "ROBOT OPERATING SYSTEM (ROS) DAN GAZEBO SEBAGAI MEDIA PEMBELAJARAN ROBOT INTERAKTIF." ILKOM Jurnal Ilmiah 10, no. 3 (December 20, 2018): 284–89. http://dx.doi.org/10.33096/ilkom.v10i3.365.284-289.

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Shimchik, Ilya, Artur Sagitov, Ilya Afanasyev, Fumitoshi Matsuno, and Evgeni Magid. "Golf cart prototype development and navigation simulation using ROS and Gazebo." MATEC Web of Conferences 75 (2016): 09005. http://dx.doi.org/10.1051/matecconf/20167509005.

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Московский, А. Д., and М. А. Ровбо. "РАЗРАБОТКА СРЕДСТВ ОБУЧЕНИЯ РЕАЛИСТИЧНЫХ МОДЕЛЕЙ МОБИЛЬНЫХ РОБОТОВ В СИМУЛЯТОРЕ ROS GAZEBO." Вестник Военного инновационного технополиса «ЭРА» 3, no. 2 (2022): 175–81. http://dx.doi.org/10.56304/s2782375x22020127.

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Dissertations / Theses on the topic "ROS/Gazebo"

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Bach, Willy, and Petter Vidarsson. "Integrering av en robotgräsklippare i en 3-dimensionell simulering." Thesis, Tekniska Högskolan, Högskolan i Jönköping, JTH, Datateknik och informatik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-47454.

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I takt med att marknaden för robotgräsklippare ökar så är pressen högre på företag att deras produkt ska vara robust. Detta kan uppnås genom att testerna som görs på robotgräsklipparen testas så fort som möjligt. Genom att skapa en simulering där alla tester genomförs istället för att köra testerna på en fysisk robotgräsklippare kan detta uppnås och utifrån detta utformades forskningsfrågan. För att skapa simuleringen undersöktes först mjukvaror vilket ansågs lämpliga för att utveckla en simulator, detta gjordes via en fallstudie. Dessa har sedan analyserats och jämförts för att till slut bestämma de som ansetts bäst att använda. Med hjälp av de så startade en utveckling av en simulator där hjul- och kollisionsdata hämtades från en fysisk robotgräsklippare och skickades till en virtuell robotgräsklippare. Den färdigställda simulatorn utvärderades vid slutet av arbetet med hjälp av experiment där författarna observerade och jämförde rörelsen hos den fysiska och virtuella robotgräsklipparen. För att utföra denna uppgift så tillämpade arbetet metoden Design science research där det arbetades iterativt vid utvecklingen av simulatorn. Resultatet visar på att det är möjligt att skapa en simulator med de valda mjukvarorna ROS och Gazebo där man kan genomföra simulerade tester. Arbetet visar på ökad kunskap där data från en fysisk robotgräsklippare kan implementeras i 3D-simulatorn Gazebo via ramverket ROS. Studien kan användas som riktlinje i liknande projekt när det kommer till val av mjukvaror och om de är lämpliga. Arbetet begränsas till enbart hjul- och kollisionsdata från den fysiska robotgräsklipparen.
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Silva, Filipe Aguiar da. "Sistema baseado em ROS distribuído para controlo de uma plataforma skid-steering." Master's thesis, Universidade de Aveiro, 2017. http://hdl.handle.net/10773/23356.

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Mestrado em Engenharia Mecânica
Esta dissertação tem como objetivo a implementação de um sistema de ROS distribuído para o controlo de uma plataforma robótica móvel com uma configuração skid-steering. Para o seu desenvolvimento são usados múltiplos microcontroladores de baixo custo, o Raspberry Pi, que interligados em rede permitem a partilha de mensagens ROS e o respetivo controlo da plataforma. A par disto, foram desenvolvidas algumas funcionalidades que permitem melhor facilidade de utilização de todo o sistema, como o controlo remoto. É ainda criado um ambiente de simulação para uma plataforma skid-steering que interage com todos os processos desenvolvidos de ROS. Por fim, de forma a testar a solução, foi realizada uma aplicação em ambiente virtual que visa a utilização de todas as funcionalidades desenvolvidas. Esta aplicação consiste no seguimento de uma linha usando uma câmara, sendo também possível a intervenção humana no seu controlo, recorrendo ao uso de um comando joystick.
This dissertation aims to implement a distributed ROS system to control a mobile robotic platform with a skid-steering configuration. For its development are used multiple low-cost microcontrollers, Raspberry Pi, which networked together allow the sharing of ROS messages and the platform control. Alongside this, some features have been developed that allow better usability of the entire system, such as remote control. It also created a simulation environment for a skid-steering platform that interacts with all the processes developed in ROS. Finally, in order to test the solution, an application in virtual environment is realized that aims at the use of all the functionalities developed. This application consists in a line following application using a camera, being also possible the human intervention in its control, resorting to the use of a joystick command.
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Morales, Néstor, and Manuel Serrano. "Autonomous Robotics Platforms." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-17261.

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Nowadays, it is of crucial importance for the manufacturing industry to be prepared for the application and understanding of autonomous mobile robots. Given this fact, educational institutions have to provide knowledge and experience to students. These autonomous mobile robots are made and controlled using different platforms and programming languages. Currently, the University of Skövde wishes to expand the range of tools to be available for building and experimenting with autonomous robots. For this purpose, this thesis project has two main goals. The first goal is finding the best available robotic platform for small scale, self-built, programmable robots. Such a platform has to include all the hardware necessary for later implementation with the software. The platform is evaluated in this thesis following different criteria. The second goal is to build a robot using the chosen platform. The robot has to perform a certain task taking advantage of its specific hardware. The development of the task has been achieved using the Robot Operative System (ROS). This thesis provides step by step instructions of how to build the platform and perform the task.
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Pham, Hoang Anh. "Coordination de systèmes sous-marins autonomes basée sur une méthodologie intégrée dans un environnement Open-source." Electronic Thesis or Diss., Toulon, 2021. http://www.theses.fr/2021TOUL0020.

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Cette thèse étudie la coordination de robots sous-marins autonomes dans le contexte d’exploration de fonds marins côtiers ou d’inspections d’installations. En recherche d’une méthodologie intégrée, nous avons créé un framework qui permet de concevoir et simuler des commandes de robots sous-marins low-cost avec différentes hypothèses de modèle de complexité croissante (linéaire, non-linéaire, et enfin non-linéaire avec des incertitudes). Sur la base de ce framework articulant plusieurs outils, nous avons étudié des algorithmes pour résoudre le problème de la mise en formation d’un essaim, puis celui de l’évitement de collisions entre robots et celui du contournement d’obstacle d’un groupe de robots sous-marins. Plus précisément, nous considérons d'abord les modèles de robot sous-marin comme des systèmes linéaires de type simple intégrateur, à partir duquel nous pouvons construire un contrôleur de mise en formation en utilisant des algorithmes de consensus et d’évitement. Nous élargissons ensuite ces algorithmes pour le modèle dynamique non linéaire d’un robot Bluerov dans un processus de conception itératif. Nous intégrons ensuite un réseau de neurones de type RBF (Radial Basis Function), déjà éprouvé en convergence et stabilité, avec le contrôleur algébrique pour pouvoir estimer et compenser des incertitudes du modèle du robot. Enfin, nous décrivons les tests de ces algorithmes sur un essaim de robots sous-marins réels BlueROV en environement Opensource de type ROS et programmés en mode autonome. Ce travail permet également de convertir un ROV téléopéré en un hybride ROV-AUV autonome. Nous présentons des résultats de simulation et des essais réels en bassin validant les concepts proposés
This thesis studies the coordination of autonomous underwater robots in the context of coastal seabed exploration or facility inspections. Investigating an integrated methodology, we have created a framework to design and simulate low-cost underwater robot controls with different model assumptions of increasing complexity (linear, non-linear, and finally non-linear with uncertainties). By using this framework, we have studied algorithms to solve the problem of formation control, collision avoidance between robots and obstacle avoidance of a group of underwater robots. More precisely, we first consider underwater robot models as linear systems of simple integrator type, from which we can build a formation controller using consensus and avoidance algorithms. We then extend these algorithms for the nonlinear dynamic model of a Bluerov robot in an iterative design process. Then we have integrated a Radial Basis Function neural network, already proven in convergence and stability, with the algebraic controller to estimate and compensate for uncertainties in the robot model. Finally, we have presented simulation results and real basin tests to validate the proposed concepts. This work also aims to convert a remotely operated ROV into an autonomous ROV-AUV hybrid
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Vávra, Patrik. "Využití nástroje ROS pro řízení autonomního mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-402584.

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Tato práce se zabývá vytvořením lokalizačního a navigačního systému mobilního robota pro vnitřní prostředí pomocí frameworku ROS. Stručně je zde představen projekt, v rámci kterého diplomová práce vznikla, a jeho cíle. V rešeršní části je v krátkosti popsán ROS framework, simulační prostředí Gazebo a senzory, kterými robot disponuje. Následuje vytvoření modelu robota a simulačního prostředí, v němž jsou vyzkoušeny lokalizační, navigační a další rutiny. V experimentální části je provedeno testování senzorů a popsáno využití jejich výstupů. Následně jsou upraveny a otestovány algoritmy ze simulace na reálném robotovi. V závěru jsou popsány vytvořené vzdělávací minihry. Hlavním výstupem této práce je funkční stavový automat, který umožňuje manuální ovládání, zadávání cílů pro navigaci a v případě potřeby zajistí autonomní nabití robota.
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Šťastný, Martin. "Modelování a simulace robotických aplikací." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232094.

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The aim of this master thesis is to make research of Open Source software, which are used for simulation autonomous robots. At the begining is performed research of selected robotic simulators. In the first part of this work is to get familiar with robotic simulator Gazebo and robotic framework ROS. The second part of this work deals with simulating and subsequent implementation of choosen robotic tasks through the simulator Gazebo and the ROS framework.
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Bednařík, Jan. "Optická lokalizace velmi vzdálených cílů ve vícekamerovém systému." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2016. http://www.nusl.cz/ntk/nusl-255418.

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This work presents a system for semi-autonomous optical localization of distant moving targets using multiple positionable cameras. The cameras were calibrated and stationed using custom designed calibration targets and methodology with the objective to alleviate the main sources of errors which were pinpointed in thorough precision analysis. The detection of the target is performed manually, while the visual tracking is automatic and it utilizes two state-of-the-art approaches. The estimation of the target location in 3-space is based on multi-view triangulation working with noisy measurements. A basic setup consisting of two camera units was tested against static targets and a moving terrestrial target, and the precision of the location estimation was compared to the theoretical model. The modularity and portability of the system allows fast deployment in a wide range of scenarios including perimeter monitoring or early threat detection in defense systems, as well as air traffic control in public space.
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Teixeira, Bruno Daniel Almeida. "Development of an anthropomorphic arm for manipulation." Master's thesis, 2017. http://hdl.handle.net/10773/24265.

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Nowadays, service robots are used for private or research usage, like in space programs to explore planets, or in an University project. This dissertation is mainly focused on the development of an anthropomorphic arm and its assemble on the platform CAMBADA@Home to participate and achieve better results in the RoboCup competition. In this dissertation it will be explained how the robotic arm for CAMBADA@Home was developed. This will include the motors used, BLDC motor and Dynamixel servo motors, as well as the construction of a model of the arm with the use of a CAD software, which involves the use of the motors designed and the creation of some parts to connect them, as well as the assembly of the physical model. Afterwards the hardware and software control were developed. It was also used a simulator in order to safely test the model. Then a few test were run which consisted on the use of no load an with a load of 263 grams. Additional test were run to verify if the planning sequence matched the physical trajectory
Nos dias que correm, os robôs são usados na investigação, para uso privado, como nos programas espaciais para explorarem planetas, ou para um projeto Universitário. Este projeto terá como foco o desenvolvimento de um braço antropomórfico, e possível instalação na plataforma móvel CAMBADA@ Home, para este poder participar na competição do RoboCup e conseguir alcançar mais objetivos do que aqueles que faz atualmente. Nesta dissertação irá ser explicado como os braços para o CAMBADA@Home serão desenvolvidos, explicando os motores que foram usados, motor BLDC e os servo motores, e como foram aplicados, o desenvolvimento de um modelo virtual a partir um software CAD e a construção do modelo físico. Irá também conter a informação de como a placa de controlo dos motores foi desenvolvida, o software usado assim como as ferramentas necessárias para este trabalho, incluindo o simulador usado para testar o modelo
Mestrado em Engenharia Eletrónica e Telecomunicações
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Ferreira, Manuel Teles. "Planeamento dinâmico de trajetórias locais para o ATLASCAR2 em ambientes com múltiplos veículos." Master's thesis, 2019. http://hdl.handle.net/10773/28210.

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Um dos maiores desafios no desenvolvimento da condução autónoma corresponde ao planeamento da trajetória a percorrer, sendo necessário a recolha de dados provenientes de sensores instalados no veículo, obtendo informação sobre os obstáculos na vizinhança. Deste modo, esta dissertação tem com objetivo a adaptação do planeador do ATLASCAR2 proveniente de trabalhos realizados em anos anteriores, de modo a que este algoritmo seja capaz de responder a situações comuns durante uma viagem, como por exemplo a ultrapassagem ou o cruzamento entre veículos. Para tal foi necessário reformular o ambiente de simulação existente de modo a permitir a utilização de múltiplos veículos no simulador Gazebo tendo cada um o seu próprio planeador de trajetórias, tendo sido aperfeiçoado a interação entre o programador e a simulação, possibilitando a realização de múltiplos testes sem a necessidade de alterações profundas ao algoritmo. Foram também realizadas alterações ao planeador de trajetórias geral com foco na condução pela via da direita e na utilização de um ponto atrator dinâmico capaz de alterar o comportamento do veículo consoante a manobra a realizar. Desta forma foi possível a parametrização de manobras-tipo especificando o comportamento que o veículo autónomo deve desempenhar em cada situação, dando destaque à parametrização da ultrapassagem. O desenvolvimento desta dissertação utilizou o Robot Operating System (ROS) com o auxilio do simulador Gazebo para avaliar o desempenho do planeador de trajetórias desenvolvido.
One of the greatest challenges in the development of autonomous driving corresponds to the planning of the trajectory to be executed, requiring the collection of data acquired by sensors installed in the vehicle, therefore obtaining information about the obstacles in its periphery. With this in mind, this dissertation aims at adapting the trajectory planner of the ATLASCAR2 developed in previous projects, so that this algorithm is able to respond to common situations during a trip, such as overtaking or an intersection between vehicles. In order to do so, it was necessary to reformulate the existing simulation environment in order to allow the use of multiple vehicles in the Gazebo simulator, each having its own trajectory planner, improving the interaction between the programmer and the simulation, allowing multiple tests without the need for profound alterations to the algorithm. Changes were also made to the general trajectory planner focusing on the right lane driving and the use of a dynamic attractor point capable of altering the vehicle’s behavior depending on the maneuver to be performed. In this way it was possible to parameterize different maneuvers specifying the behavior that the autonomous vehicle should perform in each situation, with emphasis in the parametrization of the overtaking maneuver. The development of this dissertation used the Robot Operating System (ROS) with the aid of the Gazebo simulator to evaluate the performance of the developed trajectory planner.
Mestrado em Engenharia Mecânica
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Silva, Pedro Henrique Meneses Osório Gonçalves. "Simulador 3D multi-plataforma para competições robóticas." Master's thesis, 2018. http://hdl.handle.net/1822/59470.

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Dissertação de mestrado integrado em Engenharia Electrónica Industrial e Computadores
Com a evolução da tecnologia de computação, foi possível oferecer aos desenvolvedores e investigadores de diversas áreas, como a informática, a robótica, as micro e nano tecnologias, medicina ou aviação, melhores e mais poderosas ferramentas de trabalho e treino, que promoveram mais avanços tecnológicos e qualidade no desempenho das suas tarefas. Abrangendo muitas áreas de aplicação, os simuladores mostram-se umas das ferramentas mais inovadoras e importantes, encontrando-se em constante desenvolvimento. Esta dissertação tem como objetivo desenvolver um simulador, utilizando um simulador de física externo, que possa, de forma intuitiva, melhorar a qualidade e agilizar o processo de investigação e desenvolvimento de plataformas robóticas. Estando o projeto inserido no Laboratório de Automação e Robótica (LAR), o âmbito de desenvolvimento do simulador estará alargado às várias competições nas quais o grupo participa. Irão ser criados mecanismos de simulação para as principais ligas do RoboCup tais como a RoboCup Middle-Size League, RoboCup Soccer Junior, RoboCup@Home, e do Festival Nacional de Robótica, o Robot@Factory e a Condução Autónoma. O macro-problema identificado, que se pretende solucionar neste projeto de dissertação, é o facto do processo de desenvolvimento de uma plataforma robótica ser muitas vezes atrasado e dificultado por indisponibilidade de espaços de teste, das plataformas ou de meios para realizar testes, ou a indisponibilidade de software, criando fortes entraves aos avanços nos projetos. Existe também, no caso de competições em que são enfrentadas outras equipas, a necessidade de fazer testes contra adversários, o que na realidade, pode ser bastante complicado de realizar fora das competições. O produto desenvolvido dá ao utilizador a possibilidade de interagir com os robôs da forma mais realista possível, conseguida através de manipulação dos elementos, implementação de mecanismos realistas e de visualização 3D. O objetivo sumário deste projeto foi conseguido, fornecendo ferramentas para diversos estados do desenvolvimento de várias plataformas, tanto para os casos em que dificuldades com hardware como para os casos em que se pretenda desenvolver novas camadas de software, nomeadamente inteligência artificial, e não se pretenda utilizar o robô real, agilizando o processo de desenvolvimento e teste. Criando uma ferramenta que permita melhorar o desenvolvimento dos vários projetos, espera-se que os resultados obtidos pelas diversas equipas do LAR melhorem sucessivamente, sendo este um objetivo consequente desta dissertação.
The current progress on computing technology brought the oportunity to offer to developers and researchers of various domains, like informatics, robotics, nano-technology, medicine or aviation, better and more powerful tools in order to improve their skills and task performance ability. Covering almost all technology domains, the simulators present themselves as the most inovative and important tools, remaining in constant development. This thesis has as its main goal, the development of a simulator, using an external physics simulator, that can improve and expedite the investigation and development process of robotic platforms, in a intuitive manner. Being part of Laboratório de Automação e Robótica (LAR), the scope of this work will be extended to the various competitions the group enters. Simulation mechanisms will be created for RoboCup leagues, as RoboCup Middle Size League, RoboCup Soccer Junior, RoboCup@Home, and from Festival Nacional de Robótica, Robot@Factory and Condução Autónoma (autonomous driving). The issue which this project whishes to solve, is the fact that the development of robotic platforms is delayed by the unavailability of test facilities, software, working platforms or means to test them, creating barriers to project advances. Sometimes, when in a league we have two teams facing themselves, there is the need to test (before the competition) with those teams, which in reality is very hard to accomplish out of the competition events. The final product of this thesis offers the end-user the possibility to interact with the robots in the realistic way possible, achieved through manipulation of the simulation elements, realistic mechanisms and 3D visualization. The main goal of the project was achieved, sourcing tools which can solve and help the development of the platforms in different stages, when there are difficulties with the hardware or software layers, usually artificial intelligence, or in the case that the users do not want to use the real robots, expediting the development and test procedures. Creating this tool to improve the development process of the various projects, it is expected that the different LAR’s teams make faster progress, being this a consequent objective of this thesis.
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Book chapters on the topic "ROS/Gazebo"

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Megalingam, Rajesh Kannan, Darla Vineeth Prithvi, Nimmala Chaitanya Sai Kumar, and Vijay Egumadiri. "Drone Stability Simulation Using ROS and Gazebo." In Advanced Computing and Intelligent Technologies, 131–43. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-2164-2_11.

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Bernardeschi, Cinzia, Adriano Fagiolini, Maurizio Palmieri, Giulio Scrima, and Fabio Sofia. "ROS/Gazebo Based Simulation of Co-operative UAVs." In Modelling and Simulation for Autonomous Systems, 321–34. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-14984-0_24.

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Meyer, Johannes, Alexander Sendobry, Stefan Kohlbrecher, Uwe Klingauf, and Oskar von Stryk. "Comprehensive Simulation of Quadrotor UAVs Using ROS and Gazebo." In Simulation, Modeling, and Programming for Autonomous Robots, 400–411. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-34327-8_36.

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Okoli, Franklin, Yuchuan Lang, Olivier Kermorgant, and Stéphane Caro. "Cable-Driven Parallel Robot Simulation Using Gazebo and ROS." In ROMANSY 22 – Robot Design, Dynamics and Control, 288–95. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78963-7_37.

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Lange, Ralph, Silvio Traversaro, Oliver Lenord, and Christian Bertsch. "Integrating the Functional Mock-Up Interface with ROS and Gazebo." In Studies in Computational Intelligence, 187–231. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-45956-7_7.

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Karamchandani, Sunil, Saurabh Pednekar, Atharva Pusalkar, Shivani Bhattacharjee, and Disha Issrani. "Autonomous Parking System Perception and Control Simulations on ROS-Gazebo." In Lecture Notes on Data Engineering and Communications Technologies, 345–53. Singapore: Springer Singapore, 2022. http://dx.doi.org/10.1007/978-981-16-6601-8_32.

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Safin, Ramil, Roman Lavrenov, and Edgar Alonso Martínez-García. "Evaluation of Visual SLAM Methods in USAR Applications Using ROS/Gazebo Simulation." In Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings", 371–82. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-5580-0_30.

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Wang, Shuyuan, and Tianjiang Hu. "ROS-Gazebo Supported Platform for Tag-in-Loop Indoor Localization of Quadrocopter." In Intelligent Autonomous Systems 14, 185–97. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-48036-7_14.

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Gervais, Owen, and Therese Patrosio. "Developing an Introduction to ROS and Gazebo Through the LEGO SPIKE Prime." In Robotics in Education, 201–9. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-82544-7_19.

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de Carvalho, Marcelo E. C., Tiago T. Ribeiro, and Andre G. S. Conceicao. "Comparative Analysis of LiDAR SLAM Techniques in Simulated Environments in ROS Gazebo." In Synergetic Cooperation between Robots and Humans, 275–85. Cham: Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-47272-5_23.

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Conference papers on the topic "ROS/Gazebo"

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Sciortino, Claudio, and Adriano Fagiolini. "ROS/Gazebo-Based Simulation of Quadcopter Aircrafts." In 2018 IEEE 4th International Forum on Research and Technology for Society and Industry (RTSI). IEEE, 2018. http://dx.doi.org/10.1109/rtsi.2018.8548411.

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Kumar, Krishneel, Sheikh Izzal Azid, Adriano Fagiolini, and Maurizio Cirrincione. "Erle-copter Simulation using ROS and Gazebo." In 2020 IEEE 20th Mediterranean Electrotechnical Conference ( MELECON). IEEE, 2020. http://dx.doi.org/10.1109/melecon48756.2020.9140476.

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Qian, Wei, Zeyang Xia, Jing Xiong, Yangzhou Gan, Yangchao Guo, Shaokui Weng, Hao Deng, Ying Hu, and Jianwei Zhang. "Manipulation task simulation using ROS and Gazebo." In 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2014. http://dx.doi.org/10.1109/robio.2014.7090732.

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Alajami, A. A., R. Pous, and G. Moreno. "Simulation of RFID Systems in ROS-Gazebo." In 2022 IEEE 12th International Conference on RFID Technology and Applications (RFID-TA). IEEE, 2022. http://dx.doi.org/10.1109/rfid-ta54958.2022.9924062.

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Khiabani, Parisa Masnadi, Babak Sistanizadeh Aghdam, Javad Ramezanzadeh, and Hamid D. Taghirad. "Visual servoing simulator by using ROS and Gazebo." In 2016 4th International Conference on Robotics and Mechatronics (ICROM). IEEE, 2016. http://dx.doi.org/10.1109/icrom.2016.7886865.

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Agüero, Ian. "Vehicle and city simulation with Gazebo and ROS." In ROSCon2017. Mountain View, CA: Open Robotics, 2017. http://dx.doi.org/10.36288/roscon2017-900257.

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Agüero, Ian. "Vehicle and city simulation with Gazebo and ROS." In ROSCon2017. Mountain View, CA: Open Robotics, 2017. http://dx.doi.org/10.36288/roscon2017-900801.

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Cacace, Jonathan, Nicola Mimmo, and Lorenzo Marconi. "A ROS Gazebo plugin to simulate ARVA sensors." In 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020. http://dx.doi.org/10.1109/icra40945.2020.9196914.

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Millan-Romera, Jose A., Jose Joaquin Acevedo, Angel R. Castano, Hector Perez-Leon, Carlos Capitan, and Anibal Ollero. "A UTM simulator based on ROS and Gazebo." In 2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS). IEEE, 2019. http://dx.doi.org/10.1109/reduas47371.2019.8999705.

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Suvarna, Sohan, Dibyayan Sengupta, Pavankumar Koratikere, and Rajkumar S. Pant. "Simulation of Autonomous Airship on ROS-Gazebo Framework." In 2019 Fifth Indian Control Conference (ICC). IEEE, 2019. http://dx.doi.org/10.1109/indiancc.2019.8715570.

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