Faculty Publications
Permanent URI for this communityhttps://idr.nitk.ac.in/handle/123456789/18736
Publications by NITK Faculty
Browse
4 results
Search Results
Item Development of ROS-based GUI for control of an autonomous surface vehicle(Institute of Electrical and Electronics Engineers Inc., 2017) Velamala, S.S.; Pat; , D.; Ming, X.Robot Operating System (ROS) and Qt are both powerful tools used in the field of robotics and Graphical User Interface (GUI) development. The combination of both these tools gives an advantage of creating a simple and easy to use yet powerful GUI for control of robots and autonomous vehicles. This paper introduces a simple tab based UI for control of the WAM-V (Wave Adaptive Modular Vehicle) Autonomous Surface Vehicle. The UI is aimed to allow for easy initialization and killing of processes as well as gather and view the vehicular data such as diagnostics, sensor information and live camera feed, all at one place. All communication and data transfer is done wirelessly over a local WiFi network. Manual control of the ASV can be done using the buttons or by specific commands entered via command line as arguments. © 2017 IEEE.Item Simulation of Autonomous Airship on ROS-Gazebo Framework(Institute of Electrical and Electronics Engineers Inc., 2019) Suvarna, S.; Sengupta, D.; Koratikere, P.; Pant, R.S.Airships have been revived towards the end of 20th century. Airships have found numerous applications other than sightseeing and advertising. Autonomous control of airships is one of the areas where scientific research and development has gained tremendous attention in the recent years. This paper describes a methodology to simulate both the dynamics and control of an airship using virtual platforms-ROS and Gazebo. Gazebo is used to model the dynamics of the airship and ROS is used to develop a motion control algorithm. © 2019 IEEE.Item Development of an Intuitive Autonomous Ground Robot for Indoor Delivery Applications(Springer Science and Business Media Deutschland GmbH, 2025) Peter, J.; Thomas, M.J.; Gokulkrishna, S.; Cholappally, K.; Santhakumar, S.Efficient and reliable parcel delivery services are always desired in different sectors such as hospitals, offices, industries and households. One promising solution to meet, this need is the application of Autonomous Mobile Robots (AMRs) capable of navigating complex indoor environments to deliver packages and goods. Generally, AMRs are used for the last-mile delivery of parcels. The end users of such robots have different skill sets, and the robot must have a simple user interface to ensure easy usability. This paper presents an AMR with an intuitive Graphic User Interface (GUI) and aesthetic design. It is enough for the end user to define the goal locations on the resulting map shown on the robot screen. The AMR will autonomously navigate to the given goal location. Besides, the effectiveness of sensor fusion and a comparative study of various combinations of sensor fusion are also described in this paper. In addition, the application of LiDAR odometry and its performance is also analyzed in this paper. The primary objective of this study is to identify an approach that improves the AMR’s tracking accuracy and makes it suitable for dynamic work environments. This paper describes the development of an AMR for last-mile delivery purposes, and its proof of concept is evaluated on the fabricated prototype. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.Item A study and implementation of mapping and speech recognition techniques for an autonomous mobile robot based on ROS(Inderscience Enterprises Ltd., 2017) Srinivasa Rao, H.; Desai, V.; Bhat, R.; Jayaprakash, S.; Sampangi, Y.Autonomous mobile robots work in close interaction with humans in environments such as homes, hospitals, public places and disaster areas. In autonomous mobile robots, the main constraints are safety, autonomy and efficiency in helping the humans. Given these constraints, developing the autonomous mobile robot technologies is a major challenge for both the industry and the research society. This paper work is about how an indoor autonomous mobile robot can work based on robot operating system and using Lidar and other sensors to create a map of an environment, and perform autonomous navigation with using capabilities like dynamic obstacle avoidance, speech recognition and video streaming. To achieve the above features, different algorithms like SLAM, AMCL, dynamic window approach algorithms, and CMU PocketSphinx speech recogniser are used. For video steaming, ROS web video server is used and the recorded video can be sent to a remote desktop system using ROS network. © 2017 Inderscience Enterprises Ltd.