Hierarchical Mapping: A Rao-Blackwellized Particle Filter based hierarchical SLAM framework

Mobile robots need to be fully autonomous in order to perform their tasks inside their environment. To do that, robots need to have an understanding of their environment, so that they can successfully localize and navigate themselves within it. The understanding of the robots' environment is created by solving the SLAM (Simultaneous Localization...

Environment Observation Module for the Deci Zebro: Obstacle and Motion Detection using a Laser Rangefinder and Optical Flow

A Camera Submodule for the Environment Observation Module for a Zebro robot was designed. It is able to collect and process data about obstacles on a Raspberry Pi and send this to the main processor of the Environment Observation module using UART. <br/>The two main functions that were implemented are a laser rangefinder based on triangulation...

DeciZebro: the design of a modular bio-inspired robotic swarming platform

Within this report is described the process of designing a new Zebro robot for the TU Delft Robotics Institute. Zebro is a six-legged robot specifically intended to become one of the first truly autonomous swarming robots on earth. The specific aim of this project was to design Zebro to become ready for series production, and to become a robotic...