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Radu Bogdan Rusu, Radu Robotin, Gheorghe Lazea, and Cosmin Marcu. Towards Open Architectures for Mobile Robots: ZeeRO. In Proceedings of 2006 IEEE-TTTC International Conference on Automation, Quality & Testing, Robotics, AQTR 2006, May 25-28 Cluj-Napoca, Romania, 2006.

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Abstract

We report on ongoing research regarding the development of open mobile robot architectures. Preliminary results of our work show that a great degree of modularity and complexity in mobile robot design can be achieved, by simply using off-the-shelf available hardware components. A hardware robotic platform would not be nearly as efficient, if it wouldn't be sustained by an adequate software system. We are proposing the use and the development of the Player/Stage software project, of which we are active developers, as the backbone of our software robotic platform. This paper presents the experimental results regarding the development of the ZeeRO mobile robot, with an emphasis on its hardware and software architecture. We give insight on the structure of the main modules (navigation, sensing, processing), as well as the robot's interface with the Player server. Several tests with virtual environment navigation algorithms by means of simulation tools (Stage, Gazebo) have also been conducted. A small section of the paper is dedicated to Javaclient, a Player/Stage client for the Java programming language, initially developed at the University of Southern California, and later moved to SourceForge.

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BibTeX Entry

@InProceedings{Rusu06AQTR,
  author            = {Radu Bogdan Rusu and Radu Robotin and Gheorghe Lazea and Cosmin Marcu},
  title             = {Towards Open Architectures for Mobile Robots: ZeeRO},
  booktitle         = {Proceedings of 2006 IEEE-TTTC International Conference on Automation, 
                       Quality & Testing, Robotics, AQTR 2006, May 25-28 Cluj-Napoca, Romania},
  year              = {2006},
  abstract          = {
                       We report on ongoing research regarding the
                       development of open mobile robot architectures.
                       Preliminary results of our work show that a great
                       degree of modularity and complexity in mobile robot
                       design can be achieved, by simply using off-the-shelf
                       available hardware components.
                       A hardware robotic platform would not be nearly as
                       efficient, if it wouldn't be sustained by an adequate
                       software system. We are proposing the use and the
                       development of the Player/Stage software project, of
                       which we are active developers, as the backbone of
                       our software robotic platform.
                       This paper presents the experimental results
                       regarding the development of the ZeeRO mobile robot,
                       with an emphasis on its hardware and software
                       architecture. We give insight on the structure of the
                       main modules (navigation, sensing, processing), as
                       well as the robot's interface with the Player server.
                       Several tests with virtual environment navigation
                       algorithms by means of simulation tools (Stage,
                       Gazebo) have also been conducted.
                       A small section of the paper is dedicated to
                       Javaclient, a Player/Stage client for the Java
                       programming language, initially developed at the
                       University of Southern California, and later moved to
                       SourceForge.
                      },
}

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