"Modelling Autonomous Perpendicular Parking Procedure for Car-like Robot Avrora Unior in Gazebo Simulator"

This paper describes an implementation of autonomous perpendicular parking and parking spot search algorithms. A procedure of the perpendicular parking is based on geometric constraints of a parking spot and a vehicle.

Embedded ArUco: a novel approach for high precision UAV landing

This paper presents a novel approach for precise UAV landing using visual sensory data. A new type of fiducial marker called embedded ArUco (e-ArUco) was developed specially for a task of a robust marker detection for a wide range of distances. E-ArUco markers are based on original ArUco markers app

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

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

Virtual Experiments on ArUco and AprilTag Systems Comparison for Fiducial Marker Rotation Resistance under Noisy Sensory Data

Modern robotic researches propose various machine vision methods for accomplishing robotic tasks. The recognition quality in these tasks is very important for successful performance. A large number of them use fiducial marker systems as a main element of algorithms. However, only a few researches ar

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

RFID-Based Warehouse Management System Prototyping Using а Heterogeneous Group of Robots

Robotic warehouse management is a promising field of research with a high practical applicability. Typically, warehouses are strictly organized and controlled environments with a high potential for rapid robot deployments. To provide system robustness every robotic deployment should be tested in adv

LIDAR-based Parking Spot Search Algorithm

Autonomous driving considers issues related to a car driving in different real world situations. This work addresses a parking task and describes a new LIDAR-based parking spot search algorithm. The proposed approach was successfully validated in virtual experiments within the Gazebo simulator in

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