Top

Published in:

2023 | OriginalPaper | Chapter

Champion Paper Team AutonOHM

Authors : Marco Masannek, Sally Zeitler

Published in: RoboCup 2022: Robot World Cup XXV

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

This paper presents the team AutonOHM and their solutions to the challenges of the RoboCup@Work league. The hardware section covers the robot setup of Ohmn3, which was developed using knowledge from previous robots used by the team. Custom solution approaches for the @Work navigation, perception, and manipulation tasks are discussed in the software section, as well as a control architecture for the autonomous task completion.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

previous chapter RoboCup2022 KidSize League Winner CIT Brains: Open Platform Hardware SUSTAINA-OP and Software

next chapter RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-Based In-Walk Kicks

RoboCup Atwork Website. https://atwork.robocup.org/. Accessed 20 Jan 2021

Norouzi, A., Schnieders, B., Zug, S., Martin, J., Nair, D., Steup, C., Kraetzschmar, G.: RoboCup@Work 2019 - Rulebook. https://atwork.robocup.org/rules/ (2019)

EvoCortex Homepage. https://evocortex.org/. Accessed 20 Jan 2021

Stanford Artificial Intelligence Laboratory. Robotic Operating System (2018). https://www.ros.org

Dellaert, F., Fox, D., Burgard, W., Thrun, S.: Monte carlo localization for mobile robots. In: Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No. 99CH36288C), Detroit, MI, USA, vol. 2, pp. 1322–1328 (1999). https://doi.org/10.1109/ROBOT.1999.772544

Rösmann, C., Feiten, W., Wösch, T., Hoffmann, F., Bertram, T.: Trajectory modification considering dynamic constraints of autonomous robots. In: Proceedings of the 7th German Conference on Robotics, Germany, Munich, pp 74–79 (2012)

Rösmann, C., Feiten, W., Wösch, T., Hoffmann, F., Bertram, T.: Efficient trajectory optimization using a sparse model. In: Proceedings of the IEEE European Conference on Mobile Robots, Spain, Barcelona, pp. 138–143 (2013)

Rösmann, C., Hoffmann, F., Bertram, T.: Integrated online trajectory planning and optimization in distinctive topologies. Robot. Auton. Syst. 88, 142–153 (2017)CrossRef

Rösmann, C., Hoffmann, F., Bertram, T.: Planning of multiple robot trajectories in distinctive topologies. In: Proceedings of the IEEE European Conference on Mobile Robots, UK, Lincoln (2015)

10.

ROS navigation. http://wiki.ros.org/navigation. Accessed 20 Jan 2021

11.

Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with rao-blackwellized particle filters. IEEE Trans. Rob. 23, 34–46 (2007)CrossRef

12.

Grisetti, G., Stachniss, C., Burgard, W.: Improving grid-based SLAM with rao-blackwellized particle filters by adaptive proposals and selective resampling. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (2005)

13.

Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics, Massachusetts Institute of Technology (2006)

14.

Fischler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun. ACM 24(6), 381–395 (1981). https://doi.org/10.1145/358669.358692MathSciNetCrossRef

15.

Github: DataGeneration. https://github.com/ItsMeTheBee/DataGeneration. Accessed 22 Jan 2021

16.

GitHub: NVIDIA deepstream reference apps. https://github.com/NVIDIA-AI-IOT/deepstream_reference_apps. Accessed 20 Dec 2019

17.

GitHub: bitbots mas_navigation. https://github.com/b-it-bots/mas_navigation. Accessed 20 Jan 2021

18.

Alphacei Vosk. https://alphacephei.com/vosk/. Accessed 20 Jan 2021

19.

Dadswell, D.: “E05: Pick & Pack,” SciRoc, 17-May-2021. https://sciroc.org/e05-pick-pack/. Accessed 13 Jan 2022

20.

Github: usb_cam. https://github.com/ros-drivers/usb_cam. Accessed 13 Jan 2022

21.

Github: image_pipeline. https://github.com/DavidTorresOcana/image_pipeline. Accessed 13 Jan 2022

22.

Github:docs_atwork. https://github.com/autonohm/docs_atwork. Accessed 20 Jan 2022

Title: Champion Paper Team AutonOHM
Authors: Marco Masannek
Sally Zeitler
Publisher: Springer International Publishing
Book: RoboCup 2022: Robot World Cup XXV
Print ISBN: 978-3-031-28468-7

Electronic ISBN: 978-3-031-28469-4

Copyright Year: 2023
DOI: https://doi.org/10.1007/978-3-031-28469-4_19

Springer Professional

Abstract

Please log in to get access to your license.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Springer Professional "Wirtschaft"

Premium Partner