Carlos Jaramillo's DREU (Summer 2009)

Week 8:

Task	Comments
Adding SLAM (simultaneous localization and mapping) to the Stage simulator	* MGC Mapper: A mapping algorithm http://psurobotics.org/wiki/index.php?title=MGC_Mapper * Open source SLAM implementations http://openslam.org
playerwritemap: a Player utility that fetches grid and vector maps (e.g., from a SLAM driver) and writes them to disk.	It lacks of documentation, so we have to blindly experiment with it.
GUI Interface for Surveyor in Player	The player driver for the surveyor SRV-1 was tested with CLI (command line interface) Player utilities such as playerjoy and playercam. We would like to develop a GUI (graphical user interface) that would allow to drive the robot and take image snapshots from the camera as well as to present a live-video feed that will be integrated with the SLAM capabilities to be added to the “Stage” simulator.
Pyrobot	Pyrobot (written in Python) can be a good starting point for the Surveyor via Player GUI development. I'm analyzing how player/stage is interfaced through Pyrobot.

Carlos Jaramillo's
Distributed Research Experience as Undergraduate (Summer 2009)