Submitted version of the thesis - Airlab, the Artificial Intelligence ...

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78 BIBLIOGRAPHY [15] A.Eliazar andR.Parr. Learningprobabilisticmotion modelsformobile robots. In Proceedings of the twenty-first international conference on Machine learning, 2004. [16] N. Tomatis A. Tapus and R. Siegwart A. Martinelli. Simultaneous localization and odometry calibration for mobile robot. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003. [17] M. Asada, R. D’Andrea, A. Birk, H. Kitano, and Manuela Veloso. Robotics in edutainment. In Proceedings of the IEEE International Conference on Robotics and Automation 2000 (ICRA ’00), volume 1, pages 795 – 800, April 2000. [18] Bobick et al. The kidsroom. Communications of the ACM, Vol. 43, No. 3, 60-61, 2000. [19] A Bonarini. Designing highly interactive, competitive robogames. AIR- Lab report, 2010. [20] David Cavallo, Arnan Sipitakiat, Anindita Basu, Shaundra Bryant, Larissa Welti-santos, John Maloney, Siyu Chen, Erik Asmussen, Cynthia Solomon, and Edith Ackermann. C and ackermann e: âroballet: exploring learning through expression in the arts through constructing in a technologically immersive environment. In in Proceedings of International Conference on the Learning Sciences 2004, 2004. [21] M Tan and Y Shen D Xu. A new simple visual control method based on cross ratio invariance. IEEE International Conference on Mechatronics & Automation, 2005. [22] K. Deguchi. Optimal motion control for image-based visual servoing by decoupling translation and rotation. Proc. Int. Conf. Intelligent Robots and Systems, 1998. [23] Carl F. Disalvo, Francine Gemperle, Jodi Forlizzi, and Sara Kiesler. All robots are not created equal: The design and perception of humanoid robot heads. In in Proceedings of the DIS Conference, pages 321–326. ACM Press, 2002. [24] Joseph Djugash, Sanjiv Singh, and Benjamin Grocholsky. Modeling mobile robot motion with polar representations. In Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems, IROS’09, pages 2096–2101, Piscataway, NJ, USA, 2009. IEEE Press.
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POLITECNICO DI MILANO Corso di Laur
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To my family...
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Summary Aim of this project is the
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Contents Sommario I Summary III Tha
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List of Figures 2.1 The standard wh
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Chapter 1 Introduction 1.1 Goals Th
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1.4. Thesis Structure 3 tailed desc
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Chapter 2 State of the Art Advances
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2.1. Locomotion 7 provides low resi
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2.1. Locomotion 9 Figure 2.4: Diffe
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2.1. Locomotion 11 Omnidirectional
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2.2. Motion Models 13 2.2 Motion Mo
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2.4. Games and Interaction 15 a 2.5
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2.4. Games and Interaction 17 We in
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2.4. Games and Interaction 19 lot o
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Chapter 3 Mechanical Construction W
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3.2. Motors 23 The initial design o
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3.2. Motors 25 Figure 3.3: The calc
Page 43 and 44: 3.3. Wheels 27 target surface, maxi
Page 45 and 46: 3.5. Bumpers 29 Figure 3.8: Three w
Page 47 and 48: 3.6. Batteries 31 itself also works
Page 49 and 50: 3.7. Hardware Architecture 33 In sh
Page 51 and 52: 3.7. Hardware Architecture 35 The s
Page 53 and 54: 3.7. Hardware Architecture 37 With
Page 55 and 56: Chapter 4 Control The motion mechan
Page 57 and 58: 4.1. Wheel configuration 41 Figure
Page 59 and 60: 4.2. Matlab Script 43 This is case
Page 61 and 62: 4.2. Matlab Script 45 Mixed Angular
Page 63 and 64: 4.3. PWM Control 47 acollision, suc
Page 65 and 66: 4.3. PWM Control 49 mentioned previ
Page 67 and 68: Chapter 5 Vision The vision system
Page 69 and 70: 5.1. Camera Calibration 53 the prin
Page 71 and 72: 5.1. Camera Calibration 55 Figure 5
Page 73 and 74: 5.1. Camera Calibration 57 Later, i
Page 75 and 76: 5.2. Color Definition 59 warmer (ye
Page 77 and 78: 5.2. Color Definition 61 Anotheraut
Page 79 and 80: 5.2. Color Definition 63 9000 8000
Page 81 and 82: 5.3. Tracking 65 any color values.
Page 83 and 84: Chapter 6 Game The robot will be us
Page 85 and 86: • Initialize sensors • Initiali
Page 87 and 88: If the camera is set to SERVO MID,
Page 89 and 90: Chapter 7 Conclusions and Future Wo
Page 91 and 92: ior, which will be useful in the re
Page 93: Bibliography [1] Battle bots-http:/
Page 97 and 98: Appendix A Documentation of the pro
Page 99 and 100: Figure A.2: The flow diagram of the
Page 101 and 102: Appendix B Documentation of the pro
Page 103 and 104: B.1. Microprocessor Code 87 /* Conf
Page 105 and 106: B.1. Microprocessor Code 89 #ifdef
Page 107 and 108: B.1. Microprocessor Code 91 Set_Spe
Page 109 and 110: B.1. Microprocessor Code 93 TIM_DeI
Page 111 and 112: B.1. Microprocessor Code 95 /* Expo
Page 113 and 114: B.1. Microprocessor Code 97 RGBCube
Page 115 and 116: B.1. Microprocessor Code 99 /* Incl
Page 117 and 118: B.1. Microprocessor Code 101 #endif
Page 119 and 120: B.1. Microprocessor Code 103 } void
Page 121 and 122: B.1. Microprocessor Code 105 GPIO_I
Page 123 and 124: B.1. Microprocessor Code 107 /* Sta
Page 125 and 126: B.1. Microprocessor Code 109 } Inve
Page 127 and 128: B.1. Microprocessor Code 111 #inclu
Page 129 and 130: B.1. Microprocessor Code 113 /* * M
Page 131 and 132: B.1. Microprocessor Code 115 b[1] =
Page 133 and 134: B.1. Microprocessor Code 117 } * (B
Page 135 and 136: B.1. Microprocessor Code 119 #defin
Page 137 and 138: B.2. Color Histogram Calculator 121
Page 139 and 140: B.3. Object’s Position Calculator
Page 141 and 142: B.3. Object’s Position Calculator
Page 143 and 144: B.4. Motion Simulator 127 0 0 0 0 0
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B.4. Motion Simulator 129 if (plot
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B.4. Motion Simulator 131 fill (m a
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B.4. Motion Simulator 133 end text(
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Appendix C User Manual This documen
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C.1. Tool-chain Software 137 Figure
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C.2. Setting up the environment (Qt
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C.3. Main Software - Game software
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Appendix D Datasheet The pin mappin
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Figure D.2: The schematics for the
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