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What is micROS?


Robots, as one of the most remarkable novel products in the Third Industrial Revolution, are developing in much the same way that Personal Computers did 40 years ago. The most important system software for robots, robot operating system, will be the key driving force for this trend. However, most of the current robot operating systems mainly focused on development of applications on individual robotic platform. The micROS Team aims to design and develop micROS, a Morphable, Intelligent and Collective Robot Operating System for future collective and collaborative robots.


The Architecture of micROS


Inspired by the organization structures of collective robots, we designed for micROS the overall distributed architecture which consists of lots of individuals (nodes) interconnected and the layered structure for each node which could be robots, computers or humans. Networking is the basis for constructing the distributed architecture and real-time is a distinguished feature of micROS.

image

Distributed architecture of micROS


micROS is installed on each node of the collective robots and has the layered structure for each node as shown in the figure below, which consists of the core layer and the API layer. The API layer is responsible for interaction and programming interface. The micROS core is divided into resource management layer and behavior management layer. The former is to manage the resources in physical domain, information domain, cognitive domain and social domain. The latter behavior management layer is made of observation, orientation, decision and action modules.

image

Layered structure for each micROS node


Research topics


In order to implement the above-mentioned architecture and achieve efficient resource and behavior management for collective robots, we currently focus on the following research topics.

Distributed framework for collective robots

  • Inter-operability based on wireless communication
  • Ubiquitous computing and data-driven techniques
  • Real-time computing

Morphable resource management

  • Multi-domain resource abstraction and management
  • Morphable and adaptive mechanism for heterogeneous resource management

Collective behavior management

  • Autonomous observation and collective perception
  • Autonomous orientation and collective cognition
  • Autonomous decision and collective game
  • Autonomous action and collecitve dynamics
  • Intelligent behavior computing model

Programming language and development environment



发布时间:11/16/2015 13:30
最后编辑:王彦臻
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Lecturer

王彦臻 TO  micROS | Publication
发布时间:03/05/2016 20:18
更新时间:08/10/2016 11:43

2016

7. Yiying Li, Huaimin Wang, Bo Ding, Peichang Shi, Xuan Liu. "Toward QoS-aware Cloud Robotic applications: A Hybrid Architecture and Its Implementation", IEEE International Conference on Ubiquitous Intelligence and Computing, Toulouse, France, July 18-21, 2016


6. Bo Ding, Huaimin Wang, Zedong Fan, Pengfei Zhang and Hui Liu. "MicROS-drt: supporting real-time and scalable data distribution in distributed robotic systems", Robotics and Biomimetics, 2016, 3(1):1-8


5. Minglong Li, Zhongxuan Cai, Xiaodong Yi, Zhiyuan Wang, Yanzhen Wang, and Yongjun Zhang, "ALLIANCE-ROS: A software architecture on ROS for fault-tolerant cooperative multi-robot systems", The 14th Pacific Rim International Conference on Artificial Intelligence (PRICAI 2016), Phuket, Thailand, August 22-26, 2016. (Accepted) [Project Page]


4. Yu Tian, Wanrong Huang, Yanzhen Wang, Xiaodong Yi, Zhiyuan Wang, and Xuejun Yang, "Multi-level occupancy grids for efficient representation of 3D indoor environments", The 14th Pacific Rim International Conference on Artificial Intelligence (PRICAI 2016), Phuket, Thailand, August 22-26, 2016. (Accepted) [Project Page]


3. Liu L, Lao S, Pietikainen M, et al. ”Median robust extended local binary pattern for texture classificationIEEE TRANSACTIONS ON IMAGE PROCESSING, VOL. 25, NO. 3, MARCH 2016 [PDF]


2. Dengqing Tang, Tianjiang Hu*, Lincheng Shen, Daibing Zhang, Weiwei Kong, and K. H. Low, "Ground stereo vision navigation for autonomous take-off and landing of UAV: a Chan-Vese model approach", Int. J. Advanced Robotic Systems, 13:0|DOI: 10.5772/62027, 2016.


1. Minglong Li, Xiaodong Yi, Yanzhen Wang, Zhongxuan Cai, and Yongjun Zhang, "Subsumption Model Implemented on ROS for Mobile Robots", The 10th Annual Systems Conference of IEEE (IEEE-SysCon 2016), Orlando, FL, USA, April 18-21, 2016. [PDF] [Project Page]



2015


9. Kai Xu, Hui Huang, Yifei Shi, Hao Li, Pinxin Long, Jianong Caichen, Wei Sun, Baoquan Chen, "Autoscanning for coupled scene reconstruction and proactive object analysis", ACM Transactions on Graphics (SIGGRAPH Asia 2015), 34(6), 2015. [PDF] [Project Page]


8.Wang, R., Purshouse, R. C., Fleming, P. J., “Preference-inspired co-evolutionary algorithms using weights for many objective optimisation , European Journal of Operational Research, 243(2), 423-441, 2015 [PDF]


7. Guo S, Lao S, Guo J, et al. “A Semi-automatic Solution Archive for Cross-Cut Shredded Text Documents ReconstructionImage and Graphics. Springer International Publishing, 447-461. 2015 [PDF]


6. Boxin Zhao, O. Hellwich, Tianjiang Hu*, Dianle Zhou, Lincheng Shen, "Employing smartphone as on-board navigator in unmanned aerial vehicles: implementation and experiments", Industrial Robotics: An International Journal, 42(4): 306-313, 2015.


5. Bo Ding, Huaimin Wang, Zedong Fan, Pengfei Zhang, "micROS-drt: Supporting Real-time Data Distribution in Distributed Robot Software Systems", 2015 International Conference on Real-time Computing and Robotics (RCAR 2015), Changsha, Hunan, China, June 23-26, 2015.


4. Ruibin Guo, Dongxiang Zhou, Keju Peng, and Yunhui Liu, "3D Modeling of Indoor Environments Using Multiple Kinects", 2015 International Conference on Real-time Computing and Robotics (RCAR 2015), Changsha, Hunan, China, June 23-26, 2015. [PDF] [Project Page]


3. Xuefeng Chang, Yanzhen Wang, Xiaodong Yi, and Nong Xiao, "SARRT: a Structure-Aware RRT-based Approach for 2D Path Planning", 2015 IEEE Conference on Robotics and Biomimetics (IEEE-ROBIO 2015), Zhuhai, Guangdong, China, December 6-9, 2015. [PDF] [Project Page]


2. Shaowu Yang, Xiaodong Yi, Zhiyuan Wang, Yanzhen Wang, and Xuejun Yang, "Visual SLAM Using Multiple RGB-D Cameras", 2015 IEEE Conference on Robotics and Biomimetics (IEEE-ROBIO 2015), Zhuhai, Guangdong, China, December 6-9, 2015. [PDF] [Project Page]


1. Canben Yin, Shaowu Yang, Xiaodong Yi, Zhiyuan Wang, Yanzhen Wang, Bo Zhang, and Yuhua Tang, "Removing Dynamic 3D Objects from Point Clouds of a Moving RGB-D Camera", IEEE International Conference on Information and Automation (IEEE-ICIA 2015), Lijiang, Yunnan, China, August 8-10, 2015. [PDF] [Project Page]

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王彦臻 TO  micROS | 组织文章
发布时间:06/18/2016 09:17
更新时间:07/06/2016 14:45

Our new ROS package micros_swarm_framework by Xuefeng Chang et al. is featured on ROS News.


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    尹刚 1个月前
    恭喜micROS小组取得重要突破

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王彦臻 TO  micROS | 组织文章
发布时间:06/18/2016 09:11
更新时间:06/18/2016 09:14
The paper "Delay-Reliability Tradeoff for Wireless-Connected Indoor Robot Surveillance Based on Radio Environment Map" by Yunlong Wu et al. was accepted to PIMRC 2016. More details can be found on the Publication page.
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王彦臻 TO  micROS | 组织文章
发布时间:06/18/2016 09:14
更新时间:06/18/2016 09:14
The paper "Autonomous Spectrum Sensing Robot for Radio Mapping" by Yunlong Wu et al. was accepted to ICWCNT 2016. More details can be found on the Publication page.
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王彦臻 TO  micROS | News
发布时间:06/13/2016 10:09
更新时间:06/13/2016 10:11

This is an announcement for micros_swarm_framework, developed by Xuefeng, Yanzhen, and Xiaodong. It is a ROS-based programming framework for swarm robotics. Its goal is to facilitate ROS users in developing applications of robot swarms, by providing essential mechanisms, such as abstraction of swarms, swarm management, various communication tools, and a runtime environment, within the standard ROS ecosystem.


Documentation can be found on ROS Wiki: https://wiki.ros.org/micros_swarm_framework. Source code for the framework and demos in the Stage simulator can be found on GitHub: https://github.com/xuefengchang/micros_swarm_framework.

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王彦臻 TO  micROS | News
发布时间:06/13/2016 10:01
更新时间:06/13/2016 10:01
The paper "Autoscanning for coupled scene reconstruction and proactive object analysis" by Kai Xu et al. was accepted to SIGGRAPH Asia 2015. More details can be found on the Publication page.
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王彦臻 TO  micROS | News
发布时间:06/13/2016 09:50
更新时间:06/13/2016 09:50

Two papers from the micROS Team were accepted to PRICAI 2016:

1) ALLIANCE-ROS

2) Multi-level occupancy grids

More details can be found on the Publication and Projects pages.

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王彦臻 TO  micROS | People
发布时间:06/09/2016 21:02
更新时间:06/13/2016 09:27


Faculty


Lidong Chen Bo Ding Weihong Fan Jinlin Guo Deke Guo
Tianjiang Hu Li Liu Hui Liu Keju Peng Xuefeng Peng
Dianxi Shi Peichang Shi Yanzhen Wang Rui Wang Zhiyuan Wang
Kai Xu Shaowu Yang Wei Yi Xiaodong Yi Bo Zhang

Dongxiang Zhou Yun Zhou Huayong Zhu


Staff




Zaile Jiang


Students


Ph.D candidates:


Dongdong Bai Xiang Fu Ruibin Guo Zhongyuan Guo Wanrong Huang
Zhaowei Ma Manhui Sun Jiefu Tan Dengqing Tang Xiaoqiang Teng
Yunlong Wu Pengfei Zhang Boxin Zhao Hang Zhou Xin Zhou


Master students:


Hui Bao Chi Ben Zhongxuan Cai Xuefeng Chang Huiming Che
Mengxiao Chen Ben Hu Fu Li Minglong Li Yiying Li
Yingjun Liu Yunfei Liu Chongyu Pan Yu Tian Shangmin Wen

Hai Yang Bo Yuan Yanqi Zhang


Undergraduate students:




Chaoqun Wang

Alumni




Canben Yin


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王彦臻 TO  micROS | Courses
发布时间:05/14/2016 16:38
更新时间:05/14/2016 16:49

Free download: Ubuntu+ROS image


To facilitate the installation of ROS (especially when a reliable Internet connection is not available), we created an Ubuntu image with ROS pre-installed, with which you can install both Ubuntu and ROS in one go. It is based on ros-indigo-desktop-full, with essential environment variables set up. After installation, you can still download and install any ROS packages you need.

Details

  • OS version: Ubuntu 14.04.3 64bit
  • ROS version: ros-indigo-desktop-full

If you want to give it a try, please follow the link here: ubuntu-ros-indigo-v1.0.rar.

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