Skip to main content
SpringerLink
Log in

Champion Paper Team AutonOHM

  • Conference paper
  • First Online:
RoboCup 2022: Robot World Cup XXV (RoboCup 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13561))

Included in the following conference series:

  • 407 Accesses

Abstract

This paper presents the team AutonOHM and their solutions to the challenges of the RoboCup@Work league. The hardware section covers the robot setup of Ohmn3, which was developed using knowledge from previous robots used by the team. Custom solution approaches for the @Work navigation, perception, and manipulation tasks are discussed in the software section, as well as a control architecture for the autonomous task completion.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 119.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 159.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. RoboCup Atwork Website. https://atwork.robocup.org/. Accessed 20 Jan 2021

  2. Norouzi, A., Schnieders, B., Zug, S., Martin, J., Nair, D., Steup, C., Kraetzschmar, G.: RoboCup@Work 2019 - Rulebook. https://atwork.robocup.org/rules/ (2019)

  3. EvoCortex Homepage. https://evocortex.org/. Accessed 20 Jan 2021

  4. Stanford Artificial Intelligence Laboratory. Robotic Operating System (2018). https://www.ros.org

  5. Dellaert, F., Fox, D., Burgard, W., Thrun, S.: Monte carlo localization for mobile robots. In: Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No. 99CH36288C), Detroit, MI, USA, vol. 2, pp. 1322–1328 (1999). https://doi.org/10.1109/ROBOT.1999.772544

  6. Rösmann, C., Feiten, W., Wösch, T., Hoffmann, F., Bertram, T.: Trajectory modification considering dynamic constraints of autonomous robots. In: Proceedings of the 7th German Conference on Robotics, Germany, Munich, pp 74–79 (2012)

    Google Scholar 

  7. Rösmann, C., Feiten, W., Wösch, T., Hoffmann, F., Bertram, T.: Efficient trajectory optimization using a sparse model. In: Proceedings of the IEEE European Conference on Mobile Robots, Spain, Barcelona, pp. 138–143 (2013)

    Google Scholar 

  8. Rösmann, C., Hoffmann, F., Bertram, T.: Integrated online trajectory planning and optimization in distinctive topologies. Robot. Auton. Syst. 88, 142–153 (2017)

    Article  Google Scholar 

  9. Rösmann, C., Hoffmann, F., Bertram, T.: Planning of multiple robot trajectories in distinctive topologies. In: Proceedings of the IEEE European Conference on Mobile Robots, UK, Lincoln (2015)

    Google Scholar 

  10. ROS navigation. http://wiki.ros.org/navigation. Accessed 20 Jan 2021

  11. Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with rao-blackwellized particle filters. IEEE Trans. Rob. 23, 34–46 (2007)

    Article  Google Scholar 

  12. Grisetti, G., Stachniss, C., Burgard, W.: Improving grid-based SLAM with rao-blackwellized particle filters by adaptive proposals and selective resampling. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (2005)

    Google Scholar 

  13. Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics, Massachusetts Institute of Technology (2006)

    Google Scholar 

  14. Fischler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun. ACM 24(6), 381–395 (1981). https://doi.org/10.1145/358669.358692

    Article  MathSciNet  Google Scholar 

  15. Github: DataGeneration. https://github.com/ItsMeTheBee/DataGeneration. Accessed 22 Jan 2021

  16. GitHub: NVIDIA deepstream reference apps. https://github.com/NVIDIA-AI-IOT/deepstream_reference_apps. Accessed 20 Dec 2019

  17. GitHub: bitbots mas_navigation. https://github.com/b-it-bots/mas_navigation. Accessed 20 Jan 2021

  18. Alphacei Vosk. https://alphacephei.com/vosk/. Accessed 20 Jan 2021

  19. Dadswell, D.: “E05: Pick & Pack,” SciRoc, 17-May-2021. https://sciroc.org/e05-pick-pack/. Accessed 13 Jan 2022

  20. Github: usb_cam. https://github.com/ros-drivers/usb_cam. Accessed 13 Jan 2022

  21. Github: image_pipeline. https://github.com/DavidTorresOcana/image_pipeline. Accessed 13 Jan 2022

  22. Github:docs_atwork. https://github.com/autonohm/docs_atwork. Accessed 20 Jan 2022

Download references

Author information

Authors and Affiliations

  1. University of Applied Sciences Nuremberg Georg-Simon-Ohm, Kesslerplatz 12, 90489, Nuremberg, Germany

    Marco Masannek & Sally Zeitler

Authors
  1. Marco Masannek
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Sally Zeitler
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Sally Zeitler .

Editor information

Editors and Affiliations

  1. University of San Diego, La Jolla, CA, USA

    Amy Eguchi

  2. University of Aveiro, Aveiro, Portugal

    Nuno Lau

  3. Walt Disney (Switzerland), Zurich, Switzerland

    Maike Paetzel-Prüsmann

  4. Mahidol University, Bangkok, Thailand

    Thanapat Wanichanon

Rights and permissions

Reprints and permissions

Copyright information

© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Masannek, M., Zeitler, S. (2023). Champion Paper Team AutonOHM. In: Eguchi, A., Lau, N., Paetzel-Prüsmann, M., Wanichanon, T. (eds) RoboCup 2022: Robot World Cup XXV. RoboCup 2022. Lecture Notes in Computer Science(), vol 13561. Springer, Cham. https://doi.org/10.1007/978-3-031-28469-4_19

Download citation

  • DOI: https://doi.org/10.1007/978-3-031-28469-4_19

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-28468-7

  • Online ISBN: 978-3-031-28469-4

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation