Mosyr

Modular robot control system

David Obdržálek

Description

Mosyr is a general mobile robot control system

In this work, we present the design and implementation of a modular robot control system. Our software has evolved from our initial robotic software, built for an autonomous robot for the Eurobot contest. Our universal, modular architecture is a significant improvement from the original hard-coded, hard to maintain, single purpose solution. We have effectively separated the higher-level software components such as robust localization, advanced steering, etc. from the underlying hardware devices and communication protocols. Written in C/C++ using standard libraries, the final software is highly portable and extensible. Support for new platforms and hardware modules can be implemented easily, and the software includes several pre-build modules for even easier implementation on any other chosen platform.

Where to get it

Development version is available on request by email.

Contact email:

obdrzalek<at>ksi.mff.cuni.cz

Research

Research group at the department:

Web Semantization Research Group

Supporting research projects and grants:

AV CR 1ET100300419, GACR 201/09/0990, MSMT MSM0021620838

Publications:

  • Basovník S., Jusko P., Petrůšek T., Tuláček M., Obdržálek D.: Robot Localisation in Known Environment Using Monte Carlo Localisation, in Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2009, La Ferté-Bernard, France, Springer, May 2009
  • Basovník S., Mikulík A., Obdržálek D., Mach L.: Detecting Scene Elements Using Maximally Stable Colour Regions, in Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2009, La Ferté-Bernard, France, Springer, May 2009
  • Basovník S., Dekár M., Jusko P., Mikulík A., Obdržálek D., Pechal R., Petrůšek T., Piták R.: Logion - A Robot Which Collects Rocks, in Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008 (Matfyzpress), SRH Hochschule Heidelberg, MATFYZPRESS, ISBN: 978-80-7378-042-5, pp. 276-287, May 2008
  • Jusko P., Obdržálek D., Petrůšek T.: Software-Hardware Mapping in a Robot Design, in Proceedings of the International Conference on Research and Education in Robotics - EUROBOT 2008 (Springer), SRH Hochschule Heidelberg, Springer, ISBN: 978-3-642-03557-9, pp. 19-28, May 2008
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