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Maps and robots - a joint research effort of
DFG
"Spatial
Cognition Priority Program" projects "Spatial Structures in Aspect Maps" (Aspektkarten) and "Spatial Inference" (Rauminferenz) |
| summary: | |
| The aim of the project described here is to combine research results achieved in the DFG-projects spatial inference and aspect maps. These results are utilized in an application scenario to prove their applicability and to make connections between both pojects explicit. |
| software framework: | ||
| The implementation activities within the project are carried out within a LISP framework already designed. This framework includes robot interfacing, remote control, real-time simulator, motion behaviors, computational geometry functionality, and graphical user interface. A user manual is available online in pdf format. Please contact us if you are interested in obtaining a copy of the code. | ||
| robot staff: | ||
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Currently, we have a pioneer 1 robot equipped with a laser range finder.
A laser range finder is
a very precise sensor that optically measures a distance to an obstacle. It provides 360 measurements
per 180 degrees, with an accuracy of aprox. 2cm. A second roboter, a pioneer
2, will soon be available.
This robot will also be equipped with a laser ranger finder. For details on interfacing the robots please have a look at the user manual of our hardware interface ("Zwischenboard"; document in pdf). |  |
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| hardware issues: | ||
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Interfacing robots or a range of different sensors with their respective protocol demands can be quite adventurous.
To create an intergrated means of comunicating with the robot and its
sensors we decided to design a special hardware component (the so called
"Zwischenboard"). The connection
with this component is established via a an ordinary RS-232 serial interface.
Data transmitted is in pure ASCII
format, e.g. sending the command "MOTMOV -45",
followed by a carriage return, will turn the robot by 45 degrees to its left.
A server computer presents its serial interface as TCP/IP ports. Have a look at
the figures (click to view the pdf file) illustrating the design.
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| teaching: | ||
| A course will be held in winter term 2001 which will be directly related to the Maps and Robots project. It is scheduled to be continued during the following summer term of 2002. | ||
| people & how to get involved: | ||
Students are welcome to participate in the project either in terms of project work (Studienarbeit) or a diploma thesis (Baccalaureatsarbeit / Diplomarbeit) -- or through student jobs that we are offering. Please contact us for details! |
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| publications: | ||
| Diedrich Wolter: Instructing robots with maps, Proc. of TIMR01 - Towards Intelligent Robots, Manchester (GB), 2001 (PDF) | ||
| contact information: | ||
| For further information about the project or for any comments please direct your email to Diedrich Wolter or Sven Bertel. | ||
You may find us in person at: |
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| Cognitive Systems, Fachbereich Mathematik & Informatik, Universität Bremen, MZH 5350, Bibliothekstraße 1, 28359 Bremen |
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Click to read the announcement (PDF)