Robot Operating System (ROS): The Complete Reference (Volume 3)

774 Pages·2018·31.19 MB·English

by  Anis Koubaa

Volume 778
Studies in Computational Intelligence
Series Editor
Janusz Kacprzyk
Polish Academy of Sciences, Warsaw, Poland
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Editor Anis Koubaa
Robot Operating System (ROS)The Complete Reference (Volume 3)
Editor
Anis Koubaa
College of Computer Science and Information Systems, Prince Sultan
University, Riyadh, Saudi Arabia
CISTER Research Unit, Porto, Portugal
Gaitech Robotics, Shanghai, Beijing, China
ISSN 1860-949X e-ISSN 1860-9503
Studies in Computational Intelligence ISBN 978-3-319-91589-0 e-ISBN 978-
3-319-91590-6
https://doi.org/10.1007/978-3-319-91590-6
Library of Congress Control Number: 2018940893
© Springer International Publishing AG, part of Springer Nature 2019
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Acknowledgements to Reviewers
The Editor would like to thank the following
reviewers for their great contributions in the review
process of the book by providing a quality feedback to
authors.
Reviewers Anis Koubâa, Prince Sultan University,
Saudi Arabia / CISTER Research Unit, Portugal
Abdulla Al-Kaff, Universidad Carlos III de Madrid
David Portugal, Ingeniarius, Ltd.
Maram Alajlan, King Saud University
Joao Fabro, UTFPR - Federal University of
Technology-Parana Valerio De Carolis, Heriot-Watt
University Ricardo Julio, UNIFEI
Andre Oliveira, UTFPR
Juan Jesús Roldán Gómez, Universidad
Politécnica de Madrid Kostas Alexis, University of
Nevada, Reno Christoph Rösmann, Institute of
Control Theory and Systems Engineering, TU
Dortmund University Guilherme Sousa Bastos,
UNIFEI
Walter Fetter Lages, Universidade Federal do Rio
Grande do Sul Lennart Kryza, TU Berlin
Vladimir Ivan, The University of Edinburgh Elena
Peña-Tapia, Universidad Politécnica de Madrid L. V.
R. Arruda, UTFPR
Michael Hutchinson, Loughborough University
Maximilian Krämer, Technische Universität
Maximilian Krämer, Technische Universität
Dortmund Gonçalo Martins, University of Coimbra
Viswanath Bellam, Robotics Research Industry Ali
Bin Wahid, Shanghai Gentech Scientific Instruments
Paulo Drews Jr., FURG
Franz Albers, TU Dortmund
Christos Papachristos, UNR
João Santos, FARO
Moritz Luetkemoeller, TU Dortmund
Christos Papachristos, UNR
Alvaro Cantieri, IFPR
Acknowledgments
The Editor would like to thank the Robotics and
Internet of Things (RIoT) Lab of the College of
Computer and Information Sciences of Prince Sultan
University for their support to this work.
Furthermore, the Editor thanks Gaitech Robotics
in China for their support.
Contents
Part I Multi-robot Systems
A ROS-Based Framework for Simulation and Benchmarking of Multi-robot
Patrolling Algorithms
David Portugal, Luca Iocchi and Alessandro Farinelli
Multi-robot Systems, Virtual Reality and ROS: Developing a New
Generation of Operator Interfaces
Juan Jesús Roldán, Elena Peña-Tapia, David Garzón-Ramos,
Jorge de León, Mario Garzón, Jaime del Cerro and Antonio Barrientos
Part II Unmanned Aerial Systems
Autonomous Exploration and Inspection Path Planning for Aerial Robots
Using the Robot Operating System
Christos Papachristos, Mina Kamel, Marija Popović, Shehryar Khattak,
Andreas Bircher, Helen Oleynikova, Tung Dang, Frank Mascarich,
Kostas Alexis and Roland Siegwart
A Generic ROS Based System for Rapid Development and Testing of
Algorithms for Autonomous Ground and Aerial Vehicles
Pawel Ladosz, Matthew Coombes, Jean Smith and Michael Hutchinson
ROS-Based Approach for Unmanned Vehicles in Civil Applications
Abdulla Al-Kaff, Francisco Miguel Moreno and Ahmed Hussein
A Quadcopter and Mobile Robot Cooperative Task Using Visual Tags
Based on Augmented Reality ROS Package
Alvaro Rogério Cantieri, Ronnier F. Rohrich, André Schneider de Oliveira,
Marco Aurélio Wehrmeister, João Alberto Fabro, Marlon de Oliveira Vaz,
Magnus Eduardo Goulart and Guilherme Hideki
Part III Navigation, Motion Planning and Control
EXOTica: An Extensible Optimization Toolset for Prototyping and
Benchmarking Motion Planning and Control
Vladimir Ivan, Yiming Yang, Wolfgang Merkt, Michael P. Camilleri and
Sethu Vijayakumar
Online Trajectory Optimization and Navigation in Dynamic Environments
in ROS
Franz Albers, Christoph Rösmann, Frank Hoffmann and Torsten Bertram
A Backstepping Non-smooth Controller for ROS-Based Differential-Drive
Mobile Robots
Walter Fetter Lages
University Rover Challenge: Tutorials and Team Survey
Daniel Snider, Matthew Mirvish, Michal Barcis and Vatan Aksoy Tezer
Part IV Contributed ROS Packages
SROS1: Using and Developing Secure ROS1 Systems
Ruffin White, Gianluca Caiazza, Henrik Christensen and Agostino Cortesi
GPU and ROS the Use of General Parallel Processing Architecture for
Robot Perception
Nicolas Dalmedico, Marco Antônio Simões Teixeira,
Higor Santos Barbosa, André Schneider de Oliveira, Lucia Valeria Ramos
de Arruda and Flavio Neves Jr
Connecting ROS and FIWARE: Concepts and Tutorial
Raffaele Limosani, Alessandro Manzi, Laura Fiorini, Paolo Dario and
Filippo Cavallo
Enabling Real-Time Processing for ROS2 Embedded Systems
Lucas da Silva Medeiros, Ricardo Emerson Julio,
Rodrigo Maximiano Antunes de Almeida and Guilherme Sousa Bastos
Part V Interfaces for Interaction with Robots
bum_ros : Distributed User Modelling for Social Robots Using ROS
Gonçalo S. Martins, Luís Santos and Jorge Dias
ROSRemote: Using ROS on Cloud to Access Robots Remotely
Alyson Benoni Matias Pereira, Ricardo Emerson Julio and
Guilherme Sousa Bastos