provided by LABORIUS

Objectives

There are multiple objectives for this showcase:

  • Show the impacts of this integration tool for mobile and autonomous robotics research field.

  • Show MARIE’s capacity to create stable and coherent applications build from heteroclite components, localised or distributed for mobile robotic applications.

  • Present projects showing the use of MARIE.

  • Solicit collaboration from scientific community for using and improving the tools.

  • Create a community to share experiences, informations and implementations in mobile and autonomous robotics research field.

How to participate?

You are using MARIE in your project and you are interested to participate in this showcase? No problemo! Just and send a short description of your project, a description on how MARIE is used in your project, some screenshots and/or short movies, and we will be happy to add you here. In order to let other people use your project configuration and setup files, we can also add them in our CVS.


TeleOp (version 0.4)

Carle Côté, Dominic Létourneau, Yannick Brosseau, Clément Raïevsky,
Patrick Frenette, François Michaud

Laborius -- Université de Sherbrooke

Status : Follows MARIE developments
Last Update : 03/10/2005

Note: Project is available for download. See Downloads section for more information on how to get it.

Objectives

  • Create a semi-autonomous tele-operated mobile robot application

  • Motivate MARIE's developments with an implementation using simulations and real robot

  • Create a base application reusable in research activity (see TeleOp II)

Integrated software elements

Description

This project is a semi-autonomous tele-operated mobile robot application. It also integrated a 3D face showing expressions depending of the context. Here's the list of main requirements :

  • Autonomous naviguation in faculty's corridors using a map
  • Avoid objects and persons at anytime
  • Wander in the environment
  • Rest when nothing to do
  • Can be teleoperate at anytime using software control GUI
  • Avoid behavior can be desactivated (useful to push objects)
  • Start/Stop software control
  • Show expressions : sleep when application is not activated, searching when wandering and random expression otherwise.
  • Application validation with simulation 2D (Stage, SRISim), 3D(Gazebo) and with real robot(Magellan Pro), by parameters modifications of the same base system
Here's a brief description of each software elements role in the global application :
  • ACE is used to create communication framework between MARIE's components


  • Navigation and localization are done with CARMEN


  • Expressions control, behaviors control (avoid, wander, rest) and joystick control are done with RobotFlow/FlowDesigner

  • Player device abstraction allows to use the same system configuration to run in simulation (with Stage,Gazebo) and on a real robot (Magellan Pro)


  • Aria device abstraction allows to use the same system configuration to run in simulation (with SRIsim) and on a real robot (Pioneer)


  • Application control, joystick control and manual expression control are done with wxWidgets.
The following Communication Adapters have been used to interconnect Application Adapters:
  • Splitter
  • Mailbox
  • SharedMap
The following Communication Strategies have been used to interconnect Application Adapters:
  • SocketAcceptor
  • SocketConnector
  • SharedMemAcceptor
  • SharedMemConnector
Here's a dataFlow diagram showing how the application works :

Screenshots

TeleOp II

Daniel Labonté, Richard Cloutier, Marc-André Roux, François Michaud
Laborius -- Université de Sherbrooke

Status : In development
Last Update : 11/02/2004

Objectives

The objective of this project is to realize from diverse software and hardware components an integrated mobile robotic platform for teleoperation. This platform will be used for various experiments within the framework of a global research project and several phases. The researchers will have to be able to cut off or add easily new elements to the system. They will also have to adequately control the various operation parameters and the used elements.

Description

Within the framework of a research project of Laborius and about tools allowing old peoples to live longer in their home, teleoperation experiments are in progress and use robotic plateforms to provide telemonitoring and telepresence fonctionnalities.

This application with real robots and teleoperation link is an extension of the project TeleOp I. The Marie’s tool is actually used for the configuration of a specific robotic platform. This tool allowed the harmonious integration of various software elements like CARMEN, or resulting from RobotFlow/FlowDesigner tool. The Player module was used for the abstraction of the Magellan pro robot elements.

MARIE is a key element in this project and adds flexibility to the current and future configuration of the robotic system. The constraints of the researchers on this project about the choices of the software elements are largely reduced. But also, when other specific existing elements or new one being developed by them must be added, this facility will be greatly appreciated.

The use of robot in residential environments is very constraining and requires particular adjustments that the users must determine. For this reason this project includes a validation’s phase of the platform’s performances and the configuration parameters for appropriate operation in residences. This research project will include in a later phase, the use of unplanned elements at the beginning as well as developments of specialized new components in relation with the robot and its user interface. We believe that the availability of this integration tool will largely facilitate the work in this project.

Integrated software elements

Movies

Navigating in narrow space


(c) Carle Côté 2003-2006
Website designed and realized by : Carle Côté
MARIE's logo designed by : André Côté