2021/06/28 by Sebastiano Chiodini, Chiodini, Sebastiano, Riccardo Giubilato +10
Computer Science · Engineering · #Artificial intelligence #Computer science #Embedded system #Engineering #FOS: Computer and information sciences #Feature (linguistics) #Joystick #Mission control center #Mobile robot #Modular Robots and Swarm Intelligence #Operating system #Real-time computing #Robot #Robotics (cs.RO) #Robotics and Automated Systems #Robotics and Sensor-Based Localization #Simulation #Simultaneous localization and mapping #Situation awareness #Software #Systems engineering #Visualization #cs.RO
paper · pdf · doi:10.48550/arxiv.2106.14507
To be presented at the 8th IEEE International Workshop on Metrology for Aerospace (MetroAeroSpace)
arxiv created 2021/06/28 · openalex publication_date 2021/06/28 · arxiv updated 2021/06/29 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
In this paper, we present a user-friendly planetary rover's control system\nfor low latency surface telerobotic. Thanks to the proposed system, an operator\ncan comfortably give commands through the control base station to a rover using\ncommercially available off-the-shelf (COTS) joysticks or by command sequencing\nwith interactive monitoring on the sensed map of the environment. During\noperations, high situational awareness is made possible thanks to 3D map\nvisualization. The map of the environment is built on the on-board computer by\nprocessing the rover's camera images with a visual Simultaneous Localization\nand Mapping (SLAM) algorithm. It is transmitted via Wi-Fi and displayed on the\ncontrol base station screen in near real-time. The navigation stack takes as\ninput the visual SLAM data to build a cost map to find the minimum cost path.\nBy interacting with the virtual map, the rover exhibits properties of a Cyber\nPhysical System (CPS) for its self-awareness capabilities. The software\narchitecture is based on the Robot Operative System (ROS) middleware. The\nsystem design and the preliminary field test results are shown in the paper.\n