Adapting Low-Cost Platforms for Robotics Research
| Autor: | Karimpanal, Thommen George, Chamanbaz, Mohammadreza, Li, Wenzheng, Jeruzalski, Timothy, Gupta, Abhishek, Wilhelm, Erik |
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| Rok vydání: | 2017 |
| Předmět: | |
| Zdroj: | FinE-R@IROS, volume 1484 of CEUR Workshop Proceedings, page 16-26. CEUR-WS.org, (2015) |
| Druh dokumentu: | Working Paper |
| Popis: | Validation of robotics theory on real-world hardware platforms is important to prove the practical feasibility of algorithms. This paper discusses some of the lessons learned while adapting the EvoBot, a low-cost robotics platform that we designed and prototyped, for research in diverse areas in robotics. The EvoBot platform was designed to be a low cost, open source, general purpose robotics platform intended to enable testing and validation of algorithms from a wide variety of sub-fields of robotics. Throughout the paper, we outline and discuss some common failures, practical limitations and inconsistencies between theory and practice that one may encounter while adapting such low-cost platforms for robotics research. We demonstrate these aspects through four representative common robotics tasks- localization, real-time control, swarm consensus and path planning applications, performed using the EvoBots. We also propose some potential solutions to the encountered problems and try to generalize them. Comment: FinE-r@IROS, 2015, 7 pages, 5 figures |
| Databáze: | arXiv |
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