Hi community!

We all know survey papers is a great way to get get an overall idea of things in robotics. I was wondering if the community could help me in gathering some high quality and highly cited survey papers related the perception, planning, control and even some other subfields like SLAM, state estimation, etc.?

I can start with a few I know:

1. Active Learning in Robotics: https://arxiv.org/abs/2106.13697
2. Active SLAM: https://ieeexplore.ieee.org/abstract/document/10075065?casa_token=e22Vl7pZU18AAAAA:U0tAt4L6b2whMqLUzVKdtGm3cNRRk-fSNwq7rf3wjaVXLdqqfjYSWQ3Lm2Z85yysg1Md4Czh

Thanks and cheers!

So I am making a Mbot robot for my Final project for my class and the robot is supposed to move if the light is not bright enough and stop when it senes that the light is bright enough. The problem is that when I add the sensor My Mbot doesn't work and if i remove it keeps on moving forward and doesnt even stop when iI click the stop. I will be Attaching the pictures of the mbot and the code. thank you so much for helping , you guys will be my life saver.

This is the code , which was written by Chatgpt

Picture of Mbot with the photoresistor Sensor

Picture of the Mbot without the Sensor

Hi

I was discussing with some colleagues how we could improve the design a Remote operated system, where the operator interacts with the robot using a controller (xbox , joystick etc) and a GUI.

We agreed in splitting the system into a gui and backend part, where the backend handles the logic of controlling the system, talking to sensors etc.

We also agreed upon a modular system where each part of the backend communicates using some sort of middleware (dds, zenoh, zeromq, etc), very much like nodes in ros2.

However, they wanted to write the backend app in c#, with the possibility of having some parts of it in other languages, communicating via the middleware. They argued that c# has high performance and is easy and fast to write, and it was easier to solve concurrency related things. I, on the other hand, wanted to write the backend in c++ due to performance, control, community support and that we dont have to split it into separate parts, making it unecessarily complex. I also think that concurrency in c++ is very manageable.

I am pretty pragmatic, and I am no way a hardcore «C++ forever, everything else suvks» guy. It just seems odd to me why they want to choose C# when C++ so widely used.

Do they have a good case here?

PS: One thing to note is that my backhround is from robotics, while they come from computer science.

Self-propelled cart for picking tomatoes. Carrying about 700 pounds(gross) up and down mild gradients. Picking speed should be infinitely variable from 0.25 mph to about 1.5 mph, with a 3.0 mph transport speed. A 2-4 hour battery life would be sufficient, and would let me pick a 1/2 acre tomato patch in that amount of time.

It would be nice to power it off of several 100ah lifepo4 batteries, and use an arduino input to control the speed. If I could find a suitable transaxle that allows for shifting gears, I don't mind shifting into that transport gear. But I'd rather not shift between picking speeds.

Should I be looking into a DC motor and controller, or pursuing a 3-ph AC motor with a VFD instead? I don't mind doing my own research once I'm started down the right path. But this is all a new-enough idea to me that I'm not sure where to start on setting up the basic drivetrain components.

So I'm in my third yr of undergrad mechanical engineering student and I'm confused between what to pick for my term project between hexapod and SLAM based Lidar robot, time is not an issue as(have 3 months time) I have my shopping list ready for the both of them. My design is ready for the lidar robot and my chassis ready for hexapod so far. Genuinely want to make the both of them but which would be better for my term project? Would really like to get everyone's opinion on this

"I have a question about finding the pose of my mobile robot using a camera located at the top center of a limited area. I have an IMU, encoder, magnetometer, and a model to detect the robot using YOLO. I thought about determining the robot's initial position using the detection model and sensors for orientation, but I am unsure how to align the frame of the robot with the camera frame. What approach could I take to solve this problem?"

Hi, I’m currently working with GTSAM and encountering some issues. Could anyone with some experience assist me with debugging or understanding specific optimization errors? If this is the case, dm me :)

ABOVE IS THE RVIZ SCREEN I run this command on the terminal:- ros2 run nav2_map_server map_saver_cli-f-/lab.yaml -ros

args -p map_subscribe transient_local:=true

I get the following Error:- [INFO] [1736501498.659389130] [map_saver]: map_saver lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/ node lifecycle.html for more information. [INFO] [1736501498.659519883] [map_saver]: Creating [INFO] [1736501498.659631326] [map_saver]: Configuring [INFO] [1736501498.660630740] [map_saver]: Saving map from 'map' topic to '/home/visheshh/lab.yaml' file [WARN] [1736501498.660657329] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000 [WARN] [1736501498.660673227] [map saver]: Occupied threshold unspecified. Setting it to default value: 0.650000 [ERROR] [1736501500.661994304] [map_saver]: Failed to spin map subscription [INFO] [1736501500.667250944] [map_saver]: Destroying [ros2run]: Process exited with failure 1

Is there anyone who can suggest a few research papers that explain their methods/algorithms/systems of designing and programming Four-legged(Quadrupedal) robots

https://preview.redd.it/eiohqphu05ce1.jpg?width=1065&format=pjpg&auto=webp&s=f598579bba15c572b84b0f6605f184cfa82e6896

I'm working on a project where I want to control a robot using a web application joystick. My plan is to use:

• Frontend: JavaScript (possibly with roslibjs) for the joystick UI.
• Backend: FastAPI to handle commands and translate them into ROS messages (like Twist).
• Proxy: Nginx to manage HTTP and WebSocket traffic.
• ROSbridge: To facilitate communication between the web app and ROS on Jetson Nano.
• Robot: Jetson Nano running ROS to control the hardware.

A few questions:

1. Is this architecture sound? Are there better alternatives to manage WebSocket/HTTP communication between the web app and the robot?
2. Should I route all joystick commands through FastAPI, or can I send them directly to ROSbridge using roslibjs?
3. Any tips for optimizing the ROSbridge setup on Jetson Nano for low-latency control?

I'd appreciate insights, sample code, or pointers to similar projects. Thanks!

Has anyone here tried the Unitree L1 lidar and can say something about it, is it any good?

I wonder if it’s good for slam, like attaching it to a car and drive around outside creating a model.

They have a free slam software to download so it would be very nice to have.

https://preview.redd.it/gr0wh86t54ce1.png?width=434&format=png&auto=webp&s=cb4174e8a288fb6097147012b8fc5281293aca22

I am designing a 6 dof robot arm and I intend to use a geared Nema 17 motor with a gear reduction ratio of 27:1 and efficiency of 80% (see image) for one of the joints. The motor without the gearbox produces a holding torque of 0.36 Nm so based on my calculation the net output torque should be 7.73 Nm (0.36*26.85*0.8). However, under the "Gearbox Specifications" on the website, the "Max Permissible Torque" is 3 Nm and the "Moment Permissible Torque" is 5 Nm. Why are these numbers significantly lower than the expected torque output from the reduction? And what value should I use as my design Torque limit in my design?

I'm a Master's student majoring in robotics, focusing on perception for autonomous mobile robots. Currently, I work in a lab using deep learning models for object detection and segmentation. My career goal is to become a robotics engineer, with a focus on deploying perception algorithms on hardware platforms like NVIDIA Jetson boards.

My school offers a course on GPU programming that focuses on high-level CUDA programming skills. Would taking this course be a valuable investment for someone in my field? How relevant is GPU programming expertise for deploying optimizing perception algorithm performance on robotics hardware?

Hi.

I did some searching and read some posts but didn't find the right one.

e.g. at Amazon Germany there are some robot kits for Raspi 3-5 from 60 Euro around.

I would look for such a kit for active projects. I would like to do room surveillance with camera and AI and possibly couple it with local AI.

Maybe someone knows of current projects that use exactly that.

I have already searched GPT and perplexity but only find 1000 Euro projects or just old stuff in well-known forums and sites.

thanks already.

Arsat

If any funders want to try, I bet I would be able to take out a Boston robotics dog designed to hunt me. I’m willing to wear a tracking chip. It needs to as well. I get a screen showing its location. It only gets 1/2” scalpel nose. I get whatever I can find. We start one in LA, one in NYC. If the dog needs to charge, it must find places to do that. It can have humans help connect and disconnect charging cables.

I will win.

I'm currently looking into cute small robot pet like Emo, Vector, Rux and Aibi.

I have trouble deciding since they got all the cool features such as taking pictures, webcam and chatgpt etc. Look for a bot who can also still function offline mode or without a server like Aibi. I don't mind doing custom programming as well.

Just wanting a little fun learning project for myself.

I want to build a device that uses a Jetson Nano (or similar computing device, I know the Jetson Nano is basically EOL) that processes inputs from cameras, ultrasonic sensors, and GPS for obstacle detection and navigation. It runs ROS and ArduPilot, sending control signals to a PCA9685 PWM driver, which operates the motors via a motor controller. This is a project for fun—I want to make a little rover that wanders around my property inside a predefined range while learning about using the Jetson (or similar small, affordable unit) for navigation and obstacle detection. Thoughts?

Again, this is just for learning and for fun! I wonder though if the Jetson is the right platform. Theoretically I like that I could run the video processing/analysis, ROS and Ardupilot all on the same little box. With all the inputs and motor control outputs going into the same unit.