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State Machine for Arbitrary Robots for Exploration and Inspection Tasks

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Michael SchmidpeterAuthors Info & Claims

ICVISP 2020: Proceedings of the 2020 4th International Conference on Vision, Image and Signal Processing

Article No.: 29, Pages 1 - 6

https://doi.org/10.1145/3448823.3448857

Published: 04 March 2021 Publication History

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Abstract

In this paper, a novel state machine for mobile robots is described that enables a direct use for exploration and inspection tasks. It offers a graphical user interface (GUI) to supervise the process and to issue commands if necessary. The state machine was developed for the open-source framework Robot Operating System (ROS) and can interface arbitrary algorithms for navigation and exploration. Interfaces to the commonly used ROS navigation stack and the explore_lite package are already included and can be utilized. In addition, routines for mapping and inspection can be added freely to adapt to the area of application. The state machine features a teleoperation mode to which it changes as soon as a respective command was issued. It also implements a software emergency stop and multiplexes all movement commands to the motor controller. To show the state machine's capabilities several simulations and real-world experiments are described in which it was used.

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Cited By

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Schrick MHinckeldeyn JThiel MKreutzfeldt J(2025)A microservice based control architecture for mobile robots in safety-critical applicationsRobotics and Autonomous Systems10.1016/j.robot.2024.104795183(104795)Online publication date: Jan-2025
https://doi.org/10.1016/j.robot.2024.104795
Ghzouli RBerger TJohnsen EWasowski ADragule S(2023)Behavior Trees and State Machines in Robotics ApplicationsIEEE Transactions on Software Engineering10.1109/TSE.2023.326908149:9(4243-4267)Online publication date: Sep-2023
https://doi.org/10.1109/TSE.2023.3269081
Schrick MKreutzfeldt J(2023)A Fail-Operational Control Architecture for Autonomous Mobile Robots Based on State Machine Replication2023 Seventh IEEE International Conference on Robotic Computing (IRC)10.1109/IRC59093.2023.00042(214-218)Online publication date: 11-Dec-2023
https://doi.org/10.1109/IRC59093.2023.00042
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State Machine for Arbitrary Robots for Exploration and Inspection Tasks

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Published In

ICVISP 2020: Proceedings of the 2020 4th International Conference on Vision, Image and Signal Processing

December 2020

366 pages

ISBN:9781450389532

DOI:10.1145/3448823

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

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Published: 04 March 2021

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Refereed limited

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H2020 European Institute of Innovation and Technology

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ICVISP 2020

ICVISP 2020: 2020 4th International Conference on Vision, Image and Signal Processing

December 9 - 11, 2020

Bangkok, Thailand

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ICVISP 2020 Paper Acceptance Rate 60 of 147 submissions, 41%;

Overall Acceptance Rate 186 of 424 submissions, 44%

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Cited By

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Schrick MHinckeldeyn JThiel MKreutzfeldt J(2025)A microservice based control architecture for mobile robots in safety-critical applicationsRobotics and Autonomous Systems10.1016/j.robot.2024.104795183(104795)Online publication date: Jan-2025
https://doi.org/10.1016/j.robot.2024.104795
Ghzouli RBerger TJohnsen EWasowski ADragule S(2023)Behavior Trees and State Machines in Robotics ApplicationsIEEE Transactions on Software Engineering10.1109/TSE.2023.326908149:9(4243-4267)Online publication date: Sep-2023
https://doi.org/10.1109/TSE.2023.3269081
Schrick MKreutzfeldt J(2023)A Fail-Operational Control Architecture for Autonomous Mobile Robots Based on State Machine Replication2023 Seventh IEEE International Conference on Robotic Computing (IRC)10.1109/IRC59093.2023.00042(214-218)Online publication date: 11-Dec-2023
https://doi.org/10.1109/IRC59093.2023.00042
Philipp KMarco SStefan MAndreas N(2022)Traversability Analysis for Wheeled Robots using Point-Region-Quad-Tree based Elevation Maps2022 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)10.1109/ICARSC55462.2022.9784803(192-197)Online publication date: 29-Apr-2022
https://doi.org/10.1109/ICARSC55462.2022.9784803
Schrick MHinckeldeyn JThiel M(2022)A Novel Control Architecture for Mobile Robots in Safety-Critical Applications2022 27th International Conference on Automation and Computing (ICAC)10.1109/ICAC55051.2022.9911084(1-6)Online publication date: 1-Sep-2022
https://doi.org/10.1109/ICAC55051.2022.9911084

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Navigation of mobile robots in the presence of obstacles

Robust exploration and homing for autonomous robots

Worst-case optimal exploration of terrains with obstacles