NDLI: Solving the box-pushing problem using a spherical robot

Content Provider	IEEE Xplore Digital Library
Author	Weber, J. Kaufmann, C. Hache, C. Schmidt, M.
Copyright Year	2015
Description	Author affiliation: Hochschule Bochum, Heiligenhaus, Germany (Weber, J.; Kaufmann, C.; Hache, C.; Schmidt, M.)
Abstract	This work presents an innovative approach to solve the box pushing problem with a spherical robot. The box pushing problem is a well known problem in robotics, used to demonstrate the advantages of multi-robot systems. The goal is to move an object (typically a box-like structured object) to a predefined location. A team of robots is used if the box is too heavy or too difficult to handle for a single robot. Additionally, the box pushing problem is relevant in many real world applications like warehouse stocking or transporting of materials in a production process. A solution to the box pushing problem using a single spherical robot is presented in this paper. The emphasis of this work was a robust solution to the box-pushing problem with real robotic hardware, rather than the multi-robot aspect of the original box-pushing problem. A fully autonomous solution is presented, consisting of a camera module for localization issues and a path planning module for controlling the spherical robot, both modules are connected via the open source Robot Operating System (ROS) framework. The final implementation is capable to reliably move the box to any arbitrary location, compensating disturbances in sensor information or varying surface frictions. The paper describes the key components of the final implementation and concludes with an outline for future extensions of the system.
Starting Page	7
Ending Page	11
File Size	1858689
Page Count	5
File Format	PDF
ISBN	9783945728017
DOI	10.1109/REM.2015.7380366
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-18
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Deutsche Gesellschaft für Mechatronik
Subject Keyword	Robot kinematics Image processing Robot vision systems Cameras Hardware
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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