Innovative Research Discussion

Meeting on the 26th of August 2021

Location: Chair of CPS

Date & Time: 26th Aug. 2021, 12 pm to 1 pm

Participants: Univ.-Prof. Dr. Elmar Rueckert, Linus Nwankwo, M.Sc.

 

Agenda

  1. Review of the previous meeting action points
  2. Continuation of research discussion on robot control, SLAM, navigation & motion planning

Topic 1: Previous action points

Intel Realsense Cameras:

– ROS Setup and Configuration: Setup and configure both the tracking (T265) and the depth (D435i) cameras in ROS for simultaneous data streaming and rendering.

– Data acquisition and object tracking: Perform data acquisition and object tracking (pose estimation) with the integration of the tracking and depth cameras.

– SLAM: Investigate the implementation of a visual SLAM algorithm with the Intel Realsense camera.

Lego EV3 Project:

– VS Code Setup: Setup the Lego robot in the visual studio programming interface.

– Control and Experiments: Perform some control experiments and obstacle avoidance using the integrated ultrasonic and other sensors.

Topic 2: Robots into consideration for the tasks

  1. Segway RMP Mobile Platform – RMP Lite 220/400 

Next Steps

  1. Check for SLAM and mapping algorithms, and its implementation in ROS 
  2. Create map of an environment (possibly the university building map with our Intel Realsense Camera) 
  3. Continue with the experimentation with the Lego EV3 (Advance object manipulation, planning and control of production systems using [1] as reference).

Next Meeting

Next meeting was scheduled on Thursday, 2nd September, 2021. 11:00 am – 12:00 pm.

Reference

[1] N. Mustafee, K.-H.G. Bae, S. Lazarova-Molnar, M. Rabe, C. Szabo, P. Haas, and Y.-J. Son, eds, ‘A LEGO manufacturing system as demonstrator for a real-time simulation proof of concept’, Proceedings of the 2019 Winter Simulation Conference.