"Modern Methods of Map Construction Using Optical Sensors Fusion"

В этой статье рассматриваются современные методы объединения датчиков для построения карт на основе оптических датчиков, таких как камеры и лазерные дальномеры. Рассматриваются современные картографические решения, основанные на различных математических теориях и концепциях, таких как машинное обуче

Testing Procedures Architecture for Establishing a Fiducial Marker Recognition Quality in UAV-based Visual Marker Tracking Task in Gazebo Simulator

Fiducial markers could be used in different tasks, including UAV and UGV marker-based localization. In most cases developers do not consider features of fiducial markers systems (FMS) while selecting a particular FMS for a project.

Servosila Engineer Crawler Robot Modelling in Webots Simulator

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Efficient Crawler Robot Modelling in Gazebo: A Tutorial

Navigation is one of the most critical problems in all areas of mobile robotics, including urban search and rescue robotics. Autonomous navigation tasks appear almost in every robotic project. A preliminary validation on a new navigation algorithm could be efficiently performed within a simulator.

"Open Source Library of Human Models for Gazebo Simulator"

The paper presents a new library of realistic human models for the Gazebo simulator. The proposed open-source library significantly increases the effectiveness of HRI activities? modelling and testing in Gazebo environments.

"Door Handle Detection Modelling for Servosilla Engineer Robot in Gazebo Simulator"

In robotics, a simulation is an essential stage on a way of transferring a theoretical idea into a real world application.Webots-based simulations were reproduced using our mature Servosila Engineer robot model in Gazebo and validated within real random step environments of the laboratory.

Architecture of a student training computer program for preparing professional outpatient consulting skills within an electronic medical records system during COVID-19 alertness situation

One of the important goals of a medical education in the context of the COVID-19 pandemic is a broad introduction of simulated-based teaching methods, which might include elements of robotics and artificial intelligence. We analyzed computer programs that are currently used for maintaining medical

External RGB-D Camera Based Mobile Robot Localization in Gazebo Environment with Real-Time Filtering and Smoothing Techniques

In previous work, we successfully studied the possibility of a mobile robot localization using an external RGB-D camera. We conducted virtual experiments in a Gazebo simulator using ROS with a Turtlebot3 Waffle Pi as a mobile robot. find_object_2d package was used to localize the Turtlebot3 and send

Robot arm planning and control by τau-Jerk theory and a visualbased recurrent ANN observer

This paper presents a control strategy for monitoring a dynamically changing flood zone by using a group of unmanned aerial vehicles (UAVs) and an unmanned surface vehicle (USV). The strategy requires to allocate UAVs in the flood zone, achieving an optimal coverage efficiency. As the flight duratio

Modelling a TurtleBot3 Based Delivery System for a Smart Hospital in Gazebo

The design of a ?smart hospital? environment is described in this paper. Mobile ground robots perform transportation tasks between multiple stations located in different rooms while navigating in an environment with moving objects such as humans and other mobile robots. The robot is equipped with a

Improved Graphical User Interface for Crawler Robot Servosila Engineer

Robots are widely used in many areas of modern life, and a teleoperated control plays a significant role in critical mission applications. For such applications Graphical User Interface (GUI) is one of the most popular interfaces for robot navigation and manipulation manual control. In this article,

Ultrasound sensor modeling in Gazebo simulator for diagnostics of abdomen pathologies

Ultrasound imaging is a widely used technique in medicine. It is a non-invasive medical procedure that uses sound waves to produce pictures of the inside of the human body. Ultrasound helps to diagnose conditions of soft tissues and detecting a wide range of medical diseases and pathologies. This pa

Information Technologies in Professional Training of Medical University Graduates: Modelling Standard Interaction with Outpatients and Treatment Process

The paper offers an architecture and a preliminary design of a special training computer program, which targets to improve analytical medical skills of graduate students. The article includes presenting computer programs for students to improve their medical skills. The program allows medical studen

Mobile application for controlling multiple robots

Smartphones are becoming more and more highperformance devices every year, which allows to use them in new types of applications, including control and automation. This paper presents an Android OS based control tool that unifies a remote control of heterogeneous robotic systems. The current version

Navigation stack for the crawler robot Servosila Engineer

Navigation is one of the most critical problems in all areas of mobile robotics, including urban search and rescue robotics. Autonomous navigation tasks appear almost in every robotic project. A preliminary validation on a new navigation algorithm could be efficiently performed within a simulator, w

Navigation stack for the crawler robot Servosila Engineer

Navigation is one of the most critical problems in all areas of mobile robotics, including urban search and rescue robotics. Autonomous navigation tasks appear almost in every robotic project. A preliminary validation on a new navigation algorithm could be efficiently performed within a simulator, w

Modelling delivery system for a smart hospital in Gazebo

This paper describes a design of a "smart hospital" environment. Mobile ground robots perform transportation tasks between multiple stations located in different rooms while navigating in an environment with moving objects such as humans and other mobile robots. Robot is equipped with a di

Prioritizing tasks within a robotic transportation system for a smart hospital environment

This paper describes a design and an implementation of a small-scale robotic transportation system, which operates in a smart hospital environment. Within a proposed framework unmanned ground vehicles (UGV) perform transportation tasks between multiple stations that are located in different rooms.

Visual Data Processing Framework for a Skin-Based Human Detection

For a large variety of tasks autonomous robots require a robust visual data processing system. This paper presents a new human detection framework that combines rotation-invariant histogram of oriented gradients (RIHOG) features and binarized normed gradients (BING) pre-processing and skin segmentat

On Simulation of Flood and Land Slide Disaster Areas in Urban Environments for Robotized Search and Rescue

Every year Asian countries experience significant number of heavy rains, associated flood and landslide disasters. These may cause serious damage of infrastructure and typically result in human casualties. In order to deal with the problems that are caused by such natural disasters we suggest to dev

Remote Control Application for ?Servosila Engineer? on Android Mobile Devices

Robot teleoperation is common task for robots; however, connection between robot and its operator is not always stable in real world. This paper focuses on increasing robot autonomy through autonomous return and charging station docking in a case of connection loss. We integrated the algorithm into

Evaluation of visual SLAM methods in USAR applications using ROS/Gazebo simulation

Comparative Analyses of Monocular SLAM Algorithms Using TUM & EuRoC Benchmarks

Stable and robust path planning and movement in ground mobile robots require a combination of accuracy and low latency in their state estimation. However, state estimation algorithms must provide these qualities under the computational and power constraints of embedded hardware. Simultaneous localiz

Modelling a Crawler Robot Using Wheels as Pseudo-Tracks: Model Complexity vs Performance

Crawler mobile robots have a large variety of applications, including urban search and rescue. Before new algorithms and concepts could be integrated into a real robot control system and tested in field experiments, extensive virtual simulations should be performed in order to verify them carefully.

Automatic Tool for Gazebo World Construction: From a Grayscale Image to a 3D Solid Model

Robot simulators provide an easy way for evaluation of new concepts and algorithms in a simulated physical environment reducing development time and cost. Therefore it is convenient to have a tool that quickly creates a 3D landscape from an arbitrary 2D image or 2D laser range finder data. This pape

Comparative analysis of ROS-based centralized methods for conducting collaborative monocular visual SLAM using a pair of UAVs

Unmanned Aerial Vehicle (UAV) is a flying robot that acts without a constant human pilot involvement. UAVs are applied in military and civilian areas, in search and rescue operations, 3D mapping, simultaneous localization and mapping (SLAM) and other tasks. SLAM approaches are based on various senso

Youth Discussion on Intelligent Transport Systems

Hardware and software video encoding comparison

Long time of data encoding with software encoding mechanisms might become a significant problem when transferring digital data from cameras of mobile robots. At the same time, processor manufacturers claim that an encoding process is significantly accelerated by using a hardware encoding. This work

Comparison of ROS-Based Monocular Visual SLAM Methods: DSO, LDSO, ORB-SLAM2 and DynaSLAM

Stable and robust path planning of a ground mobile robot requires a combination of accuracy and low latency in its state estimation. Yet, state estimation algorithms should provide these under computational and power constraints of a robot embedded hardware. The presented study offers a comparative

Virtual experiments on a mobile robot localization with an external smart RGB-D camera using ROS

Improving of Graphical User Interface for CrawlerRobot Servosila "Engineer"

Nowadays robots widely used in many fields of our life, such as medicine, engineering, transport e.t.c. Some of them used in autonomous mode, but there are still many things that robot could do only in teleoperation mode when movements of every joint are strongly controlled by a human. For purpose l

Medical palpation autonomous robotic system modeling and simulation in ROS/Gazebo

Manual medical palpation task performed by a human doctor is characterized by the complexity of multiple source data fusion and decision subjectivity, which significantly depends on a doctor experience and sensitivity. Therefore automated robotized approach could provide more reliable and independen

Standard-complaint Gazebo warehouse modelling and validation

Modern robotics require high-quality simulations for robots and algorithms validation. Warehouses are the source of active robotic deployment due to high level of standardization. In this paper, we present a model of a warehouse designed entirely in accordance with GOST regulations and international

Simulation of Disaster Areas in Urban Environments for Robotized Search and Rescue

Modelling a crawler-type UGV for urban search and rescue in Gazebo environment

To deal with USAR tasks we have selected a novel Russian crawler robot Engineer, and this paper presents our first successful steps toward modelling the robot in ROS/Gazebo environment. We convert the provided by ?Engineer? developers CAD models into workable ROS-based 3D simulation