• Corpus ID: 6324125

ROS: an open-source Robot Operating System

  title={ROS: an open-source Robot Operating System},
  author={Morgan Quigley},
  booktitle={ICRA 2009},
This paper gives an overview of ROS, an opensource robot operating system. ROS is not an operating system in the traditional sense of process management and scheduling; rather, it provides a structured communications layer above the host operating systems of a heterogenous compute cluster. In this paper, we discuss how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS. 
Robot operating system: A modular software framework for automated driving
The requirements for software frameworks for automated driving projects are analyzed and the communication overhead of ROS is analyzed quantitatively in various configurations showing its applicability for systems with a high data load.
An Implementation of the Control System of the Mobile Robot using ROS
In this paper we implement collision avoidance using an artificial potential field and remote control of a mobile robot through ROS(Robot Operating System) among the robot’s middleware. We also apply
Diagnostic Requirements in Multi-robot Systems
The paper presents a generic robot control architecture facilitating the collection of data for the purpose of diagnostics. Each robot within the system is treated as an embodied agent composed of
Designing Weakly Terminating ROS Systems
Petri nets are applied to develop a structured design method for ROS systems, such that the weak termination property is guaranteed, based on stepwise refinement using three interaction patterns and components modeled as state machines.
An Architecture for Real-Time Control in Multi-robot Systems
A novel robotic architecture that is suitable for modular distributed multi-robot systems based on an interface supporting real-time inter-process communication, which allows simple and highly efficient data exchange between the modules.
Comparison Study of Robotic Middleware for Robotic Applications
This document gives an overview of various robotic middleware, which serves for realizing the communication between various software components in the process of development of robotic applications.
ROS Methodology to Work with Non-ROS Mobile Robots: Experimental Uses in Mobile Robotics Teaching
A robotics platform for experimental and teaching purposes that allows control and remote access by using plain sockets (regular TCP/IP sockets) and websockets respectively and a work methodology to establish communication of the non-ROS robotic platforms and ROS.
A ROSPlan-Based Multi-Robot Navigation System
A multi-robot version of RosPlan, which that is a framework for embedding a generic task planner in a ROS system, is proposed, which includes a new method to dispatch the actions; a system to ensure that each robot execute only its actions and a new ROS Package for multi- robot navigation.
A ROSPlan-Based Multi-Robot Navigation System
Multi-robot systems is a growing research field in robotics and artificial intelligence. Applying multiple robots on single robot systems, generally increase the execution robustness while minimizing
Robotics library: An object-oriented approach to robot applications
The architecture and software engineering principles of the Robotics Library are discussed and an approach to manage hardware and real-time, provide a user-friendly, object-oriented interface to powerful kinematics and dynamics calculations, and support various platforms is presented.


The robotic busboy: Steps towards developing a mobile robotic home assistant
An autonomous multi-robot system that can collect objects from indoor environments and load them into a dishwasher rack is presented and results from several public demonstrations are presented.
Microsoft robotics studio: A technical introduction
  • Jared Jackson
  • Computer Science
    IEEE Robotics & Automation Magazine
  • 2007
The composition of MSRS is examined, looking generally at its architecture and specifically at its solutions for concurrency, distribution, abstraction, simulation, and programmer interaction.
Perspectives on standardization in mobile robot programming: the Carnegie Mellon Navigation (CARMEN) Toolkit
  • Michael Montemerlo, N. Roy, S. Thrun
  • Computer Science
    Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
  • 2003
The authors' open-source robot control software, the Carnegie Mellon Navigation (CARMEN) Toolkit, is described, which chooses not to adopt strict software standards, but to instead focus on good design practices.
Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot
A novel concept for a mobile, 2-armed, 25-degree-of- freedom system with backdrivable joints, low mechanical impedance, and a 5 kg payload per arm is described.
STAIR: Hardware and Software Architecture
The STanford Artificial Intelligence Robot (STAIR) project is a long-term group effort aimed at producing a viable home and office assistant robot. As a small concrete step towards this goal, we
Development environments for autonomous mobile robots: A survey
This survey selects and describes nine open source, freely available RDEs for mobile robots, evaluating and comparing them from various points of view, and establishes a conceptual framework of four broad categories encompassing the characteristics and capabilities that an RDE supports.
Really Reusable Robot Code and the Player/Stage Project
Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)
  • Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)
  • 2007
Reusable robot code and the Player/Stage Project, " in Software Engineering for Experimental Robotics, ser
  • Reusable robot code and the Player/Stage Project, " in Software Engineering for Experimental Robotics, ser
  • 2007
Webots: a powerful realistic mobile robots simulator
  • Proc. of the Second Intl. Workshop on RoboCup
  • 1998