Robot Simple UsageĮverything is based on this tutorial. LAR: Laboratory of Automation and RoboticsĪfter installing ROS Melodic, you will need to run the dependencies installer and the clone and build this repository. Smart object exploration by robotic manipulatorĭepartment of Mechanical Engineering (DEM), University of Aveiro (UA) The solution provided is, not only, adaptable to changes in the environment during the exploration, but also, portable to other manipualtors rather than the one used in the development. The exploration reaches its end when all the unknown voxels have been evaluated or, those who were not, are not possible to be measured by any reachable pose. The pose that is estimated to provide the evaluation of the highest amount of unknown space is the one chosen to be visited next, i.e., the Next Best View. Ray casting is performed, either based on the sensor's resolution or the characteristics of the unknown scene, to assess the pose quality. This segmentation (or clustering) will help on the pose sampling operation in the sense that all generated poses are plausible. Using an OcTree implementation to reconstruct the environment, the portions of the defined exploration volume where no information has been gathered yet are segmented. The manipulator provides movement while the sensor evaluates the scene in its Field of View. Our web developers create high-performing websites using state-of-art website development practices.

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The exploration solution is based on a robotic manipulator, a RGB-D sensor and ROS. Your business website represents your brand. The end goal of this dissertation was to develop an autonomous exploration robot that is capable of choosing the Next Best View which reveals the most amount of information about a given volume. Mechanical Engineering Masters Thesis in the field of Robotics.

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