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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:2015-11-16 13:30
最后编辑:王彦臻
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王彦臻 TO  micROS | News
发布时间:2016-06-13 09:50
更新时间:2016-06-13 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:2016-06-09 21:02
更新时间:2016-06-13 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:2016-05-14 16:38
更新时间:2016-05-14 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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王彦臻 TO  micROS | Courses
发布时间:2016-05-12 16:14
更新时间:2016-05-12 16:29

Free download: A Gentle Introduction to ROS (Chinese Version)


Prof. O'Kane's famous book "A Gentle Introduction to ROS" has been translated into Chinese by Dr. Junhao Xiao. We have posted the preprint version of the book here with permission from Dr. Xiao. It can be freely downloaded for research or teaching purposes. However, it cannot be used for commercial purpose without permission. All rights preserved by Dr. Xiao.

( 1.614 MB) 王彦臻, 2016-05-12 16:14
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王彦臻 TO  micROS | Projects
发布时间:2016-03-05 11:54
更新时间:2016-03-05 19:45

Research Projects


      image                           image

     Subsumption model on ROS                            Multi-camera vSLAM



      image                           image

           Structure-aware RRT                              Dynamic object removal


      image

                 micROS-rtt

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创建时间:2015-12-21 16:30
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创建时间:2015-11-16 13:18