Download Simulation, Modeling, and Programming for Autonomous Robots: by Davide Brugali, Jan Broenink, Torsten Kroeger, Bruce PDF

By Davide Brugali, Jan Broenink, Torsten Kroeger, Bruce MacDonald

This publication constitutes the refereed lawsuits of the 4th overseas convention on Simulation, Modeling, and Programming for self sufficient Robots, SIMPAR 2014, held in Bergamo, Italy, in October 2014.
The forty nine revised complete papers provided have been conscientiously reviewed and chosen from sixty two submissions. The papers are geared up in topical sections on simulation, modeling, programming, architectures, tools and instruments, and platforms and applications.

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Extra info for Simulation, Modeling, and Programming for Autonomous Robots: 4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014. Proceedings

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We can see all moving objects have their own namespace. Here /g500arm5e is the robot namespace and regroups all nodes and topics related to its low-level control, while /blackbox is related to a moving black box. Moving objects are considered as non-actuated robots, thus have their own namespaces. The gazebo node subscribes to the /gazebo/current topic, which allows defining and modifying the water current. The main controller is called /main control. It reads body and joint positions from the corresponding topics.

E¯TN ]T . 2 Articulation and Contact Constraints Articulation and contact are encoded through a set of nonlinear constraints on rigid ¯ q) ¯ = 0, body position and orientation, with articulation using equality constraints he (x, and contact using inequality constraints hi (x, ¯ q) ¯ ≥ 0. To avoid nonlinearities, the position constraints are differentiated to yield linear velocity constraints of the form J¯v¯ = c¯ (5) ¯ where J is the constraint Jacobian matrix and ce = 0, ci >= 0, for articulation equality constraints and contact inequality constraints, respectively.

2149–2154. IEEE (2004) 6. : A review of virtual simulators for autonomous underwater vehicles (auvs). In: Navigation, Guidance and Control of Underwater Vehicles, Killaloe, Ireland, vol. 2, pp. 31–37 (2008) 7. : Comprehensive simulation of quadrotor uAVs using ROS and gazebo. J. ) SIMPAR 2012. LNCS, vol. 7628, pp. 400–411. Springer, Heidelberg (2012) 8. : An open source tool for simulation and supervision of underwater intervention missions. In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vilamoura, Portugal, pp.

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