Questions tagged [algorithm]

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

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25
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6answers
24k views

What algorithm should I implement to program a room cleaning robot?

For this question assume that the following things are unknown: The size and shape of the room The location of the robot The presence of any obstacles Also assume that the following things are ...
13
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2answers
4k views

What's an efficient way to visit every reachable space on a grid with unknown obstacles?

I'm trying to create a map of the obstacles in a fairly coarse 2D grid space, using exploration. I detect obstacles by attempting to move from one space to an adjacent space, and if that fails then ...
13
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2answers
650 views

Does RRT* guarantee asymptotic optimality for a minimum clearance cost metric?

The optimal sampling-based motion planning algorithm $\text{RRT}^*$ (described in this paper) has been shown to yield collision-free paths which converge to the optimal path as planning time increases....
7
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3answers
1k views

information filter instead of kalman filter approach

I read many sources about kalman filter, yet no about the other approach to filtering, where canonical parametrization instead of moments parametrization is used. What is the difference? Other ...
7
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2answers
488 views

object level sensor fusion for multiobject tracking

I want to fuse objects coming from several sensors, with different (sometimes overlapping!) fields of view. Having object lists, how can I determine whether some objects observed by different sensors ...
7
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1answer
94 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 : ...
6
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3answers
222 views

How can computer vision distinguish one object being contained by another vs being on top of it?

How do we know that an object is contained inside another object or is just lying on top of it? Lets take an example of a cup-plate-spoon. The cup is lying on top of the plate. But the spoon is ...
6
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2answers
316 views

Drone targeting

Imagine a "drone" and a target point on a 2d plane. Assuming the target is stationary, there are eight parameters: ...
5
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3answers
770 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 ...
5
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1answer
192 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 ...
5
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2answers
167 views

How to Identify Objects in Space

Using a depth sensing camera like Kinect, I would like to retrieve the position of an predetermined object (e.g. a cup, fork etc so that I would ultimately be able to grab the object). What would be a ...
5
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4answers
1k views

Image Based Visual Servoing algorithm in MATLAB

I was trying to implement the IBVS algorithm (the one explained in the Introduction here) in MATLAB myself, but I am facing the following problem : The algorithm seems to work only for the cases that ...
4
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4answers
150 views

Robots minimum distance

I am trying to implement a mechanism to make robots avoid being too close (Say in a distance less than d). I am not familiar with those systems and I have to ...
4
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1answer
7k views

calculating position based on accelerometer data

Please help me with the following task. I have MPU 9150 from which I get acceleration/gyro and magnetometer data. What I'm currently interested in is to get the orientation and position of the robot. ...
4
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3answers
80 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 ...
3
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2answers
520 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 ...
3
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1answer
330 views

image processing

I am making a Robot goalie, the robot is supposed to detect whether a ball has been thrown in its direction , sense the direction of the ball and then stop it from entering the goal post. A webcam ...
3
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2answers
128 views

POMDPs in robotics

POMDPs are used when we cannot observe all the states. However, I cannot figure out when these POMDPs can be useful in robotics. What is a good example of the use of POMDPs? (I have read one paper ...
3
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2answers
1k views

PID line follow with three sensors in Not eXactly C

I'm currently working on a line-following robot which uses three sensors to follow a black line. The sensors are pretty much in line and right next to each other. Right now, I'm doing a simple line ...
3
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2answers
1k 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 ...
3
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2answers
444 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') + ...
3
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1answer
547 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 ...
3
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1answer
143 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 ...
3
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1answer
218 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 ...
3
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1answer
526 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 ...
3
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1answer
108 views

Fit robot simulator to robot

I have odometry data $(x, y, angle)$ of a real two-wheeled robot, who received control commands $(forward speed, angular speed)$. Now I want to code a motion model (in C++ (/ROS)) which should follow ...
3
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1answer
130 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 ...
2
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1answer
324 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 ...
2
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4answers
4k views

How to combine an accelerometer and a gyroscope to find robot location and orientation in 2D/3D space [duplicate]

I have data from an accelerometer that measures X,Y,Z acceleration and data from a gyroscope that measure pitch, roll and yaw. How would I combine this data to find robot location and orientation in ...
2
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2answers
84 views

Detect road surface in a traffic scene point cloud

I want to analyze a traffic scene. My source data is a point cloud like this one (see images at the bottom of that post). I want to be able to detect objects that are on the road (cars, cyclists etc.)....
2
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2answers
208 views

How do I select the best configuration for a known workspace, load and task?

Given workspace constraints, load and task to be done, how do I select the best configuration of my robot? How do I select between a cartesian or Scara robot for instance? How do I select a ...
2
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2answers
993 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 ...
2
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1answer
84 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 ...
2
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2answers
2k views

How to implement the Wavefront algorithm

I am thinking of creating a robot that can navigate using a map. It is controlled from a PC. An 8-bit controller performs low level tasks and the PC is doing the image processing. I plan to implement ...
2
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2answers
106 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' ...
2
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1answer
119 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 ...
2
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1answer
356 views

Help with adaptive fill algorithm for Water Color Painting Robot

TL;DR: Can anyone point me to a good adaptive path fill algorithm? Hey there, my name is James, and my daughter built an awesome painting robot with her friends over at Evil Mad Scientist labs, even ...
2
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0answers
93 views

How to handle sensor data for a sensor-fusion algorithm

I am implementing the explicit complementary filter(see below) with a 9DOF MEMS sensors (accelerometer, magnetometer and gyroscope) for attitude estimation. Currently, the gyro and accel update rates ...
2
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2answers
114 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 ...
2
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1answer
2k views

Low variance resampling algorithm for particle filter

For my particle filter, I decided to try using the low variance resampling algorithm as suggested in Probabilistic Robotics. The algorithm implements systematic resampling while still considering ...
2
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0answers
195 views

Simplest way to do object tracking with a 2D range finder sensor? [closed]

My current class assignment is to program a robot through a course that includes two moving obstacles – other robots moving at constant speed around a region the one robot must get to. Since the other ...
1
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4answers
5k views

Self learning maze solving robot using 8bit microcontroller?

I want to know if there is best algorithm and technique to implement self learning maze solving robot in 8 bit limited resource micro-controller? I was looking for some well optimized algorithm and/or ...
1
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4answers
114 views

Is Fuzzy logic applicable for robotics research

I found some papers that use fuzzy logic to solve robotics algorithmic problems. But I have recently been told by a few roboticists that fuzzy logic should not be used in robotics because it has ...
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2answers
2k views

Which trajectory planning algorithm for minimizing jerk

In order to perform a cyclic task, I need a trajectory planning algorithm. This trajectory should minimize jerk and jounce. When I search for trajectory planning algorithms, I get many different ...
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1answer
4k 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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2answers
46 views

Block algebra and normal algebra inconsistent

I've been playing around with some block maths, mostly trying to remember how it actually works, and I've come to a simple example that should be reduced, however when doing the normal maths, compared ...
1
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1answer
71 views

Free-floating sphere dynamics using Roy Featherstone's spatial_v2 toolbox

I am using Roy Featherstone's spatial_v2 to model a mobile robot. I encountered a problem so I went back to modeling a free-floating sphere to familiarize myself with the library and the algorithms. ...
1
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2answers
604 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 ...
1
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1answer
104 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. ...
1
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1answer
43 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 ...