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Questions tagged [algorithm]

A step-by-step procedure for calculations. Algorithms are used for calculation, data processing, and automated reasoning.

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Incremental (on-the-fly) smooth trajectory interpolation algorithm from waypoints?

short version (TL;DR): I'm receiving x(t) waypoints "online", which I must travel through at the specified times. I need an algorithm that would plan a smooth trajectory in-between them without ...
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3answers
51 views

How to calculate shortest path between multiple pick and drop destinations

I have a scenario where I have multiple robots, and they have to pick and drop some items at specified locations as shown in Figure. There are 4 jobs to be done for this particular instance. How can ...
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41 views

RRT star Convergence

My Code gives the following convergence characteristics, I wanted to know if it is correct Updated code { ...
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1answer
26 views

Converging to better solutions by running RRTstar for multiple Iterations

In the Literature I have read so far, I saw RRT star was running in multiple loops to converge to a better solution ( near optimal). I was wondering how I could implement the same, as most pseudocodes ...
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37 views

Relation between GraphSLAM and Iterative closest Point algorithm

I have lots of doubts about GraphSLAM, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. When I practically implement it I get matrix singularity error. I taken ...
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2answers
103 views

How can I get the right sample in RRT star Dubins?

I am trying to find a solution in S(1)*R^2 (x,y, orientation) with obstacles (refer to image) using RRT star and Dubins Model. The code takes a lot of time to find a suitable random sample with x,y, ...
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25 views

Algorithm for orientation (pan/tilt) towards a moving point

Main Question: note: The code in this question is pseudo-code, I'm using Python, but my pseudo-code is a mix of Python and C++. I have a camera on the top of my robot's "head" which has pan and tilt ...
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44 views

Graph Slam Path and Map

Any one have any idea about Graph Slam. To implement graph slam you have to write down a equation mu=(inverse)omega*Xi; The result is the path and map. Now which one is path? Is mu represent the Path?
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116 views

PID vs Fuzzy line follower

I am making a line follower to follow a white line (approx 1.7 cmm wide) on a black track. I am using an array of 5 TCRT5000 (IR led+phototransistor) to detect the line. I was previously working with ...
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81 views

How often does a robot perform A* (A star) path planning in an unknown map?

I have read through lectures/ tutorials on A* but they have all been via computer simulations. I have an autonomous wheeled robot that is traversing an unknown map (essentially, it'll be a tabletop ...
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1answer
35 views

Potential field algorithm in a predefined trajectory

I am currently working on collision avoidance using Potential fields and I have visualized the same in winfom. Now, I need to test the algorithm in predefined trajectory say a spline(or in a lane). ...
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61 views

Basics of robotics mathematics, transformation

Calculate transformation which let us to take a item from a table if we know: position of robot base($R$), table($S$) with mounted TV camera($K^{S}$) which send a item's image $D^{K}$. A grip system $...
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350 views

How to move robotic arm in straight line

So here is my problem. I need to grab an object with my robotic arm, but I don't know the position of the object. The only thing I know is the angle between object and gripper. You will maybe better ...
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56 views

Are there any open-source congnative planing frameworks for robotics?

I have seen a lot of academic papers, but no framework that I can download and use. There are even projects, such as OpenCog, which might be usable in a few years. I would like to know of the ...
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273 views

Why does the Denavit-Hartenberg representation fail to capture the length of the last link in my model?

The length of the last link (1.73) of my model (of a human finger) is not represented in any of the parameters that I calculated using the Denavit-Hartenberg algorithm, which I think can't be right. I ...
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62 views

Is it possible to achieve control of 4 DOF in quadcopter?

I have been looking into non-linear control algorithms for controlling a quadcopter. I know that we have total 6 DOF for a quad (3 translation and 3 rotation) and our input belongs to $\mathbb{R}^4$, ...
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90 views

Computationally efficient way to represent joint C space for a multi-robot RRT

I am working on writing code for a coordinated multi-robot rapidly exploring random tree (RRT) based planner, which would naturally involve a lot of sampling, nearest neighbor searching and 'radius' ...
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353 views

Generating double s-curve velocity profiles with given time

I wonder how to generate double s-curve velocity profile for multiple DOF trajectory. Since there are constraints on initial and final velocities which can be non-zero it is necessary to synchronize ...
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Resampling step for MC variation reduction

I am reading particle filtering for robot localisation and specifically the resampling step to avoid particle degeneracy. Can anyone explain me what MC (Monte Carlo) variation means? I saw it couple ...
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2answers
669 views

Multicopter: What are Euler angles used for?

I hope you can help me and this is the right forum to ask. In the process of building and programming my own Quadcopter, I encountered the term Euler angles. I took some time to understand them and ...
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1answer
117 views

Software for mission planning in multi-robot systems

I am interested in mission planning for multi-robot systems. Given multiple robots and multiple tasks and an environment, I need to specify missions and software should plan for the robot team to ...
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1answer
99 views

What is exact model of haptic interface system in the paper “Time-Domain Passivity Control of Haptic Interfaces”?

I am trying to simulate the experiments in the paper "Time-Domain Passivity Control of Haptic Interfaces", Hanaford and Ryu, 2002, IEEE transactions on robotics and automation vol .18, No1 about the ...
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1answer
99 views

Self learning robotics algoritm: feedback needed

I'm working on a robotics project and I've got this idea for a self learning algorithm. I'm looking for some feedback on this, and specifically on whether this is a more common way of doing things. ...
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41 views

Prediction of Ready to Use Robotic Control Cards Codes

Suppose you have a control card. We do not have access to the control card's code and we do not know which control algorithm is used (PID, PD, PI, Fuzzy, ...). We can only measure the control inputs ...
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1answer
168 views

PID for variable Setpoint

Can a PID with variable setpoint work? I have already done tests, but these are not conclusive. On the other hand I am not certain of this algorithm. Background This project involves improving the ...
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1answer
3k views

Matlab Inverse Kinematics 6 DOF

I'm trying to write an inverse kinematics Matlab code for a 6 DOF robotic arm that has the following link parameters: Twist angle (alpha): [-90, 0, 90, -90, 90, 0] ...
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757 views

What sensors and algorithms are used in Digital Pen for tracking hand writing?

Could anyone tell what are the sensors used in a digital pen which or specifically Equil smart pen and smart marker which can track hand writings. Is it MEMS based??If Yes, Is it MEMS accelerometer ...
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1answer
187 views

Area coverage of autonomous underwater robot

I'm currently working on an autonomous underwater cleaning robot and would like your input on some navigation algorithms Problem: Wash the inside of big, open and filled tank, e.g. water storage ...
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1answer
119 views

Seminal work in multi-robot task decomposition [closed]

Multi-Robot task decomposition implies that there is a mission that needs multiple mobile robots like guarding the president's car with a team of drones. This high-level layman interpretation of the ...
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3answers
549 views

How can I implement tremaux algo in arduino line follower to navigate and create map?

The Map1 The task is divided into 2 runs, In first run, We have to navigate through whole map and reach the end mark taking all checkpoints. In second run, using the mapping from first run we have to ...
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2answers
108 views

What exactly is $\omega_k$ in the stage cost of moving horizon estimation?

In (nonlinear) moving horizon estimation the aim is to estimate an unknown state sequence $\{x_k\}_{k=0}^T$ over a moving horizon N using measurements $y_k$ up to time $T$ and a system model as ...
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1answer
454 views

What algorithm should I use for a line follower?

I actively take part in robotics competitions with my school's robotics club, and all of the line followers we use, are implemented using a PID algorithm (PD actually), but recently my electronics ...
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86 views

How can a DMP be used for simulating physics?

I read a paper from 2015, "Structural bootstrapping - A novel, generative mechanism for faster and more efficient acquisition of action-knowledge ", which introduces a concept called, "Structural ...
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What is the interpretation of unsampled particles in particle filters?

I implemented Particle Filters few years back. I was experimenting few things with Particle Filters. I learned that we can resolve Robot Kidnapping problem by introducing new particles. What if we ...
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399 views

Obstacle Avoidance while Navigating

I need some ideas for strategies or algorithms to apply on these strategies to perform obstacle avoidance while navigating. At the moment I'm doing offline path planning and obstacle avoidance of ...
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1answer
148 views

Path planning for visual servoing

I am at moment trying to implement a visual servoing application. the robot I am using is a UR5, and TCP has a stereo camera mounted on to it. The idea is to move the end effector according to the ...
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1answer
283 views

ComputeShortestPath() in Dstar lite algorithm

In optimized D*Lite algorithm as shown in the figure below (page 5, of the paper D*Lite), when the procedure ComputeShortestPath() is called for the first time in line 31, U(list of inconsistent ...
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1answer
286 views

Meaning of s_last in D star Lite algorithm

In the D*Lite algorithm, described in line 21 of Figure 3, on page 4, in D* Lite, the main() starts with defining $s_{last}=s_{start}$. But value of $s_{last}$ is ...
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365 views

Difference between g-value and rhs-value in Lifelong Planning A*

What is the difference between g-value and rhs-value of Lifelong Planning A* algorithm? According to this link, D* Lite, g(s) directly correspond to the g-values of an A* search, i.e. g(s) = g(s') + ...
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1answer
71 views

OpenRAVE ChechCollison command in C++

What is the equivalent code of "env.CheckCollision(robot)" in C++? Even though it is said that conversion of commands from python to c++ is easy and intuitive, where can I find a proper documentation ...
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2k views

RRT algorithm in C++

I want to implement RRT for motion planning of a robotic arm. I searched a lot on the internet to get some sample code of RRT for motion planning, but I didn't get any. Can someone please suggest a ...
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2answers
194 views

PID tuning with methods like GA and PSO

I have recently started reading about PID tuning methods and algorithms, and I encountered the particle swarm optimization algorithm and genetic algorithm. The problem is, that I don't understand how ...
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1answer
113 views

Suitable D star variant is for non-holonomic motion planning of mobile robots

I am working on a non-holonomic motion planning problem of a mobile robot in a completely unknown environment. After going through some research papers, I found that D-star algorithm is widely used in ...
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1answer
59 views

Papers on Algorithms in Robotics [closed]

I'm a CS student and I need to give a 30-minute lecture about 1-2 papers describing 1-2 algorithms for any of the main problems in Robotics (navigation, coverage, patrolling, etc.). I have no ...
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1answer
91 views

6D localization with 6 lasers

I have to know where a multi-rotor is, in a rectangular room, via 6 lasers, 2 on each axis. The problem is like this: Inputs : Room : square => 10 meters by 10 meters 6 positions of the lasers : ...
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1answer
84 views

Helicopter Stabilization Algorithm

I've hacked a rc helicopter, and I am able to control it by running a program on my computer. I am interested in writing algorithms that will stabilize the helicopter. For instance, the helicopter is ...
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1answer
174 views

List of books similar to Thrun's Probabilistic Robotics for robot mechanics and manipulation [closed]

What? Put together here a list of books (like the one for C/C++ on StackOverflow) that are spiritually similar to Sebastian Thrun's Probabilistic Robotics for robotic manipulation and mechanics. Why?...
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75 views

Reference request: Path accuracy algorithm in the joint angle space

I am currently reviewing a path accuracy algorithm. The measured data are points in the 7 dimensional joint space (the robot under test is a 7 axes Robot, but this is not of importance for the ...
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1answer
117 views

How to estimate the position of multiple static ground targets captured from a down facing camera?

An aerial vehicle captures images of the ground using its down facing camera. From the images, multiple targets are converted from their pixel position to the camera reference frame using the pinhole ...
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2answers
1k views

Localization with only IMU [duplicate]

What will be the best approach to get the most localization accuracy out of only an accelerometer and gyroscope?