Generic motion planner:

Obstacle avoidance and planning algorithms (probabilistic roadmap PRM, rapidly exploring random trees RRT).

 

 

Interface for planning from sensor localization:

Planner initial and object positions can be set from sensor input using middleware interface.

 

 

Planner for fixed manipulator:

Sampling-based planner (PRM, RRT) dedicated to fixed manipulator..

 

 

Inverse kinematics:

Modular real-time IK tool for redundant robots, handling singularities and multiple tasks .

 

 

CoMuRoSim:

Motion planning from a list of tasks in the context of coordinated control of cooperative multi‐robot systems .

 

 

Grasp synthesis based on dynamic properties:

Finds optimal grasp configurations based on the object’s dynamic properties.

 

 

Contact planning (for manipulation):

Sampling-based planner (PRM, RRT) dedicated to dynamic systems working in contact. The planner can generated sequences of nonrolling contacts for a dexterous hand manipulating an object.

 

 

Force Control Design Tool:

The tool is an aid for the design of position-based force control algorithms.

 

 

Planner for mobile manipulator:

Sampling-based planner (PRM, RRT) dedicated to mobile manipulator..

 

 

Collision avoidance:

Potential field based approach for implementing a self-collision avoidance; can be activated in torque controlled operation mode of the arm.

  • Related Deliverable: D7.2
  • Type of Tool: Integrated Library
  • Targeted Challenge: C2
  • Instructions for download: Challenge II team SVN

 

 

Capability map:

Reachability analysis of the robot; Access to the capability map of the platform for approach position calculation and manipulability heuristics.

  • Related Deliverable: D6.4
  • Type of Tool: Integrated software library
  • Targeted Challenge: C2
  • Instructions for download: Challenge II team SVN

 

 

Object Detection:

3D-data based scene parsing; toolchain from CAD-Data to localization of objects in depth images.

  • Related Deliverable: D5.1
  • Type of Tool: Integrated software library
  • Targeted Challenge: C2
  • Instructions for download: Challenge II team SVN

 

 

Planner for UAVs:

Sampling-based planner (PRM, RRT) dedicated to underactuated UAVs like quadcopters.

 

 

Image undistort tool:

Tool performing general image undistortion, stereo rectification and dense stereo reconstruction.

 

 

Wrench estimator:

Momentum-based estimator of external wrench and unmodeled dynamics for UAVs.

 

 

RotorS:

A MAV gazebo simulator.

 

 

Mav Planning Utils:

Plans smooth minimum snap trajectories for use in MAV path planning.

 

 

Model Predictive Control for MAVs:

A linear MPC and a non-linear MPC designed for agile MAV control.

 

 

Multi-Sensor Fusion:

Time delay compensated single and multi sensor fusion framework.

 

 

Volumetric Mapping:

A repository for 3D volumetric (occupancy) maps, providing a generic interface for disparity map and pointcloud insertion, and support for custom sensor error models.

 

 

Ros Vrpn Client:

Ros interface for vicon that rejects outliers and uses an EKF to estimate trajectories.

 

 

Rovio:

Robust visual inertial odometry.

 

 

Vehicle Monitor (MAV saver):

System for automatically detecting collisions of MAVs and unsafe states.

 

 

Vicon depthcam Calib:

Small tool for calibrating the offset between a depth camera and Vicon markers.

 

 



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News

17.10.2013

EuRoC@I4MS

2013-10-17 08:00 CET

Representatives of all projects involved in the I4MS initiative met in Brussels on the 11th of October to discuss joint market visibility, synergies among projects etc.

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