Turtlebot SLAM from rosbag

Turtlebot SLAM from rosbag
In the following I will explain (1) how to record a rosbag that is suitable for gmapping SLAM and (2) how to use that rosbag to build a map using ROS’s gmapping. It makes sense to split the process of mapping an environment into these two steps, since you can then easily tweak the parameters ...

Turtlebot multi-robot system

I have three turtlebot v2.0 robots that I want to control in a multi robot system. That means I want them to eventually talk to each other sharing information and building a representation of their surroundings. But first the question becomes what software infrastructure is well fittet for such a task and will allow me ...

Binary Feature Based Localization – Diploma Thesis

Binary Feature Based Localization - Diploma Thesis
Binary Feature Based Localization for Visual Odometry. I wrote my thesis in the NAVVIS group of the Institute for Media Technology at the Technische Universit√§t M√ľnchen. Find the full thesis here! Abstract Recently, Google, Microsoft and several start-ups have started to launch services for indoor maps. Due to its potentially high localization accuracy and its ...

Project Easter Egg Hunt

Project Easter Egg Hunt
This is the main project in the Autonomous Robotics class of Ayanna Howard at Georgia Tech. My team-members were Edward Macdonald, Daniel Pickem and Kunal Muchhalla. Abstract The simulated pioneer robots mission is to collect and retrieve easter eggs that are randomly distributed in a unknown maze-like environment. To accomplish this task the robot utilizes ...

Pedestrian Indoor Localization – Bachelor Thesis

Pedestrian Indoor Localization - Bachelor Thesis
Pedestrian Indoor Localization and Tracking using a Particle Filter combined with a learning Accessibility Map. In the following I will give the abstract of the thesis and show results in the form of two videos. My full Bachelor Thesis can be downloaded here! Abstract As mobile phones are starting to get equipped with inertial sensors, ...

rEIzor

rEIzor
I was team leader for the development of the fast line-following robot rEIzor. The robot achieved nearly 1 m/s on the line while handling branches and intersections. Our team won the final competition at the TUM against five other teams. The content is also available in German under http://www.j-robotics.de/index.php?site=reizor.  

Kno2Bot

Kno2Bot
Kno2Bot was developed for the Roboking 2007 competition at the TU Chemnitz. The goal of the competition was to somehow move ping-pong balls from the own side of a playground to the enemy side of the playground. The two sides were connected by two tunnels only. Kno.2Bot had a localization system based on its odometry ...

Kno0Bot

Kno0Bot
Kno0Bot was constructed for the Roboking 2006 competition at the TU Chemnitz, which asked to collect bricks from a station to bring them through an obstacle course to a remote base station. After that competition I reconfigured the Kno0Bot to enable tea-light collection for the Robo Challenge near Frankfurt. The content is also available in ...

Ca3505

Ca3505
Ca3505 is a small robot that was able to collect tea lights on a playground and retrieve them to its base. It used infrared distance sensors and a magnetic field sensor to navigate on the playground. It won the tea light competition at the Robochallenge 2005.

Roboking 2005 Roboter

Roboking 2005 Roboter
This robot was constructed for the Roboking 2005 at the TU Chemnitz. It was able to collect up to three tennis balls in its “tower”. Once returned to its own base on the square playground he would eject them. Detection of the balls and of the base was performed using the CMUCam2. The robot notably ...