Relevant bibliographies by topics / Robotics, software architecture, SLAM

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Robotics, software architecture, SLAM'

Author: Grafiati
Published: 9 March 2023
Last updated: 19 July 2025

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Journal articles on the topic "Robotics, software architecture, SLAM"

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Mamri, Ayoub, Mohamed Abouzahir, Mustapha Ramzi, and Rachid Latif. "ORB-SLAM accelerated on heterogeneous parallel architectures." E3S Web of Conferences 229 (2021): 01055. http://dx.doi.org/10.1051/e3sconf/202122901055.

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SLAM algorithm permits the robot to cartography the desired environment while positioning it in space. It is a more efficient system and more accredited by autonomous vehicle navigation and robotic application in the ongoing research. Except it did not adopt any complete end-to-end hardware implementation yet. Our work aims to a hardware/software optimization of an expensive computational time functional block of monocular ORB-SLAM2. Through this, we attempt to implement the proposed optimization in FPGA-based heterogeneous embedded architecture that shows attractive results. Toward this, we a
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Ghazal, Mohammed Talal, Murtadha Al-Ghadhanfari, and Najwan Zuhair Waisi. "Simulation of autonomous navigation of turtlebot robot system based on robot operating system." Bulletin of Electrical Engineering and Informatics 13, no. 2 (2024): 1238–44. http://dx.doi.org/10.11591/eei.v13i2.6419.

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Complex system science has recently shifted its focus to include modeling, simulation, and behavior control. An effective simulation software built on robot operating system (ROS) is used in robotics development to facilitate the smooth transition between the simulation environment and the hardware testing of control behavior. In this paper, we demonstrate how the simultaneous localization and mapping (SLAM) algorithm can be used to allow a robot to navigate autonomously. The Gazebo is used to simulate the robot, and Rviz is used to visualize the simulated data. The G-mapping package is used t
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Jo, Yong Hwan, Se Yeon Cho, and Byoung Wook Choi. "Towards a ROS2-based software architecture for service robots." Bulletin of Electrical Engineering and Informatics 12, no. 5 (2023): 3027–38. http://dx.doi.org/10.11591/eei.v12i5.5590.

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This paper presents a scalable software architecture based on robot operating system 2 (ROS2) for service robots. ROS2 supports the data distribution service (DDS) protocol that provides benefits such as real-time operation and security and performance enhancements. However, ROS2 still lacks task management capabilities, essential for practical robotic applications consisting of multiple threads and processes. Moreover, integrating new devices into ROS2 requires additional development effort to create specific drivers for specific devices. The proposed software architecture addresses these dra
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Mihálik, Michal, Branislav Malobický, Peter Peniak, and Peter Vestenický. "The New Method of Active SLAM for Mapping Using LiDAR." Electronics 11, no. 7 (2022): 1082. http://dx.doi.org/10.3390/electronics11071082.

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In this article, we propose a new approach to addressing the issue of active SLAM. In this design, we used the already functional SLAM algorithm, which we modified for our case. Matlab was used as the main software tool. All proposed methods were experimentally verified on a mobile robotic system. We used LiDAR as the primary sensor. After mapping the environment, we created a grid map. The grid map may be used for the navigation of the mobile robotic system, but the navigation and control of the mobile robotic system are not involved in this article. The result of the whole process is an auto
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Belhe, Sayali. "Development of a Modular Robotic Adapter for Autonomous Navigation Using Jetson Nano." International Journal for Research in Applied Science and Engineering Technology 13, no. 6 (2025): 543–50. https://doi.org/10.22214/ijraset.2025.72139.

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Abstract: AdaptX is an AI-powered autonomous ground robot designed for autonomous navigation, high-resolution 3D environmental mapping, and real-time decision-making. AdaptX, which was created with scalability and adaptability in mind, combines robotic technologies and cutting-edge artificial intelligence to address important issues in autonomous mobility. The system makes use of YOLOv9 for fast object recognition, Simultaneous Localization and Mapping (SLAM) for precise real-time mapping and localization, and a web-based control interface for smooth remote monitoring and communication. AdaptX
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Song, Jooeun, and Joongjin Kook. "Mapping Server Collaboration Architecture Design with OpenVSLAM for Mobile Devices." Applied Sciences 12, no. 7 (2022): 3653. http://dx.doi.org/10.3390/app12073653.

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SLAM technology, which is used for spatial recognition in autonomous driving and robotics, has recently emerged as an important technology to provide high-quality AR contents on mobile devices due to the spread of XR and metaverse technologies. In this paper, we designed, implemented, and verified the SLAM system that can be used on mobile devices. Mobile SLAM is composed of a stand-alone type that directly performs SLAM operation on a mobile device and a mapping server type that additionally configures a mapping server based on FastAPI to perform SLAM operation on the server and transmits dat
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Chen, Pengkai, and Zhanshuo Shi. "Capsule endoscopy robotics and SLAM technology." Applied and Computational Engineering 12, no. 1 (2023): 73–77. http://dx.doi.org/10.54254/2755-2721/12/20230299.

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Gastrointestinal diseases are a relatively common disease, and the advent of endoscopic technology is important for the early detection and treatment of this disease. In order to adapt to current medical conditions, endoscopic robots that can move autonomously are known to be the trend of development. Most of the current capsule endoscopic robots use simultaneous localization and mapping SLAM technology to localize the capsule robot and create a map of the intestinal tract. his paper summarizes the classification of capsule endoscopy robots by referring to several articles on capsule endoscopy
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Anagha J. Choudhary, Purva K. Patil, Dishant Shah, Rupali D. Rode, and Hrushikesh B. Kulkarni. "Simultaneous Localization and Mapping (SLAM) for warehouse applications." International Journal of Science and Research Archive 12, no. 1 (2024): 1005–9. http://dx.doi.org/10.30574/ijsra.2024.12.1.0833.

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The ravaging impacts of the COVID-19 pandemic on global supply chains and its exposures of the vulnerabilities of the This research paper describes the development and implementation of a practical SLAM model for warehouse application. SLAM technology allows autonomous systems to map unknown environments while estimating their own position. The model combines hardware (mobile robot platform with sensors) and software (SLAM algorithms and real-time data processing) components. The project involved reviewing SLAM algorithms, assembling the hardware, developing software modules, and testing the m
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Hastürk, Özgür, and Aydan M. Erkmen. "DUDMap: 3D RGB-D mapping for dense, unstructured, and dynamic environment." International Journal of Advanced Robotic Systems 18, no. 3 (2021): 172988142110161. http://dx.doi.org/10.1177/17298814211016178.

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Simultaneous localization and mapping (SLAM) problem has been extensively studied by researchers in the field of robotics, however, conventional approaches in mapping assume a static environment. The static assumption is valid only in a small region, and it limits the application of visual SLAM in dynamic environments. The recently proposed state-of-the-art SLAM solutions for dynamic environments use different semantic segmentation methods such as mask R-CNN and SegNet; however, these frameworks are based on a sparse mapping framework (ORBSLAM). In addition, segmentation process increases the
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Duan, Yongjia, Jing Luo, and Xiong Zhou. "MSF-SLAM: Enhancing Dynamic Visual SLAM with Multi-Scale Feature Integration and Dynamic Object Filtering." Applied Sciences 15, no. 9 (2025): 4735. https://doi.org/10.3390/app15094735.

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Conventional visual SLAM systems often struggle with degraded pose estimation accuracy in dynamic environments due to the interference of moving objects and unstable feature tracking. To address this critical challenge, we present a groundbreaking enhancement to visual SLAM by introducing an innovative architecture that integrates advanced feature extraction and dynamic object filtering mechanisms. At the core of our approach lies a novel Multi-Scale Feature Consolidation (MSFConv) module, which we have developed to significantly boost the feature extraction capabilities of the YOLOv8 network.
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Dissertations / Theses on the topic "Robotics, software architecture, SLAM"

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MICUCCI, DANIELA. "Mobile Robot Localisation and World Modeling in a Real-Time Software Architecture." Doctoral thesis, Università degli Studi di Milano, 2004. http://hdl.handle.net/10281/58006.

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The goal of autonomous mobile robotics is to build physical systems that can interact with environments not specifically structured for this purpose. Even if the applications that might exploit autonomous mobile robots are widespread, current technologies are still immature at satisfying the growing requests. For this reason, robot navigation constitutes one of the major trends in the current research on robotics. A precondition for a mobile robot to be autonomous is the ability to self-localise inside an environment. This precondition is dificult to satisfy when the robot does not exploit a
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El, bouazzaoui Imad. "Hardware Software Co-design of an Embedded RGB-D SLAM System." Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPAST156.

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Les capteurs de vision délivrant des images en couleur et l'information de profondeur ont récemment gagné en popularité. Les véhicules autonomes bénéficient de nouvelles méthodes de perception 3D grâce à ces capteurs. Nous avons étudié les différentes étapes de traitement d’un sys­tème afin d'apporter des contributions au niveau du couplage capteur-algorithme et de l'architec­ ture de calcul. Cette étude a commencé par une analyse expérimentale approfondie de l’impact des modalités d’acquisition des capteurs sur la préci­sion de la localisation. Nous avons développé la méthode HOOFR-SLAM RGB-D
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Vincke, Bastien. "Architectures pour des systèmes de localisation et de cartographie simultanées." Phd thesis, Université Paris Sud - Paris XI, 2012. http://tel.archives-ouvertes.fr/tel-00770323.

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La robotique mobile est un domaine en plein essor. L'un des domaines de recherche consiste à permettre à un robot de cartographier son environnement tout en se localisant dans l'espace. Les techniques couramment employées de SLAM (Simultaneous Localization And Mapping) restent généralement coûteuses en termes de puissance de calcul. La tendance actuelle vers la miniaturisation des systèmes impose de restreindre les ressources embarquées. L'ensemble de ces constatations nous ont guidés vers l'intégration d'algorithmes de SLAM sur des architectures adéquates dédiées pour l'embarqué.Les premiers
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Silva, João Manuel Leite da. "Perception and software architecture for mobile robotics." Doctoral thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/14083.

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Doutoramento em Ciências da Computação<br>When developing software for autonomous mobile robots, one has to inevitably tackle some kind of perception. Moreover, when dealing with agents that possess some level of reasoning for executing their actions, there is the need to model the environment and the robot internal state in a way that it represents the scenario in which the robot operates. Inserted in the ATRI group, part of the IEETA research unit at Aveiro University, this work uses two of the projects of the group as test bed, particularly in the scenario of robotic soccer with real
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Reymann, Christophe. "Observation missions with UAVs : defining and learning models for active perception and proposition of an architecture enabling repeatable distributed simulations." Thesis, Toulouse, INSA, 2019. http://www.theses.fr/2019ISAT0017/document.

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Cette thèse se focalise sur des tâches de perceptions pour des drones à voilures fixes (UAV). Lorsque la perception est la finalité, un bon modèle d'environnement couplé à la capacité de prédire l'impact de futures observations sur celui-ci est crucial. La perception active traite de l'intégration forte entre modèles de perception et processus de raisonnement, permettant au robot d'acquérir des informations pertinentes à propos du statut de la mission et de replanifier sa trajectoire de mesure en réaction à des évènements et résultats imprévisibles. Ce manuscrit décrit deux approches pour des
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Gandomi-Bernal, Katie. "Implementation of a Modular Software Architecture on a Real-Time Operating System for Generic Control over MRI Compatible Surgical Robots." Digital WPI, 2018. https://digitalcommons.wpi.edu/etd-theses/1227.

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Software used in medical settings operate in complex and variable environments. Programs need to integrate well not only with their electrical and mechanical components, but also within the socio-technological setting they participate in. In this Master's Thesis, a modular software architecture for controlling surgical robot systems within magnetic resonance scanners is designed and implemented. The C++ program runs on a sbRIO 9651 real-time operating system and an object oriented design is taken. Robot kinematics and controls are put into effect in software and validated. Communication with u
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Bonato, Vanderlei. "Proposta de uma arquitetura de hardware em FPGA implementada para SLAM com multi-câmeras aplicada à robótica móvel." Universidade de São Paulo, 2008. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-31032008-142731/.

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Este trabalho apresenta uma arquitetura de hardware, baseada em FPGA (Field-Programmable Gate Array) e com multi-câmeras, para o problema de localização e mapeamento simultâneos - SLAM (Simultaneous Localization And Mapping) aplicada a sistemas robóticos embarcados. A arquitetura é composta por módulos de hardware altamente especializados para a localização do robô e para geração do mapa do ambiente de navegação em tempo real com features extraídas de imagens obtidas diretamente de câmeras CMOS a uma velocidade de 30 frames por segundo. O sistema é totalmente embarcado em FPGA e apresenta dese
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Ramaswamy, Arunkumar. "A model-driven framework development methodology for robotic systems." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLY011/document.

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La plupart des applications robotiques, telles que les véhicules autonomes, sont développées à partir d’une page blanche avec quelques rares réutilisations de conceptions ou de codes issus d’anciens projets équivalents. Qui plus est, les systèmes robotiques deviennent de plus en plus critiques, dans la mesure où ils sont déployés dans des environnements peu structurés, et centrés sur l’humain. Ces systèmes à fort contenu logiciel qui utilisent des composants distribués et hétérogènes interagissent dans un environnement dynamique, et incertain. Or, il s’agit là d’étapes indispensables pour la m
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Bizhuta, Ermal, and Dhespina Carhoshi. "Applicability Study of Software Architectures in the Discrete Manufacturing Domain." Thesis, Mälardalens högskola, Inbyggda system, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-44705.

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Manufacturing, under the umbrella of the latest industrial revolution, has gone through enormous changes in the last decades to then later evolve in what we know now as smart manufacturing. Different companies and entities have developed their own versions of architectures for intelligentand digitalized manufacturing systems. Ideating a exible and safe architecture is one of the first steps towards a system that intends to be applicable in different environments, regardless of the vast variety of possibilities available. For this purpose, the following thesis presents an investigation on the s
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Bueno, Ruas de Oliveira Lucas. "Conception architecturale des systèmes robotiques orientée services." Thesis, Lorient, 2015. http://www.theses.fr/2015LORIS374/document.

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La Robotique a connu une évolution remarquable au cours des dernières années, couplée à un intérêt croissant de la société pour ce domaine. Les robots ne sont plus fabriqués exclusivement pour effectuer des tâches répétitives dans les usines, mais ils sont aussi créés pour collaborer avec les humains dans plusieurs domaines d'application d'importance. Les systèmes robotiques qui contrôlent ces robots sont donc de plus en plus larges, complexes et difficiles à développer. Dans ce contexte, l'Architecture Orientée Services (SOA) a été identifiée comme un style d'architecture logicielle prometteu
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Books on the topic "Robotics, software architecture, SLAM"

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E, Drummond Mark, Kaelbling Leslie Pack, Rosenschein Stanley J, and Ames Research Center. Artificial Intelligence Research Branch., eds. Collected notes from the Benchmarks and Metrics Workshop (NASA Ames, June 25, 1990). NASA, Ames Research Center, Artificial Intelligence Research Branch, 1991.

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Berlo, Ad. Ambient Intelligence - Software and Applications: 4th International Symposium on Ambient Intelligence (ISAmI 2013. Springer International Publishing, 2013.

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Mohamad, Zain Jasni, El-Qawasmeh Eyas, and SpringerLink (Online service), eds. Digital Information and Communication Technology and Its Applications: International Conference, DICTAP 2011, Dijon, France, June 21-23, 2011, Proceedings, Part II. Springer-Verlag GmbH Berlin Heidelberg, 2011.

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Balzan, Alberto, Claudia Cabrera Aparicio, and Dario Trabucco. Robotics in Tall Building Construction: New Frontiers in Fabrication and Automation. Council on Tall Buildings and Urban Habitat, 2021.

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Frigeni, Fabrizio. Industrial Robotics Control: Mathematical Models, Software Architecture, and Electronics Design. Apress L. P., 2023.

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Shehory, Onn, and Arnon Sturm. Agent-Oriented Software Engineering: Reflections on Architectures, Methodologies, Languages, and Frameworks. Springer, 2016.

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Eder, Kerstin, Onn Shehory, and João Lourenҫo. Hardware and Software : Verification and Testing: 7th International Haifa Verification Conference, HVC 2011, Haifa, Israel, December 6-8, 2011, Revised ... Springer, 2012.

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Fatikow, Sergej, and Ulrich Rembold. Microsystem Technology and Microrobotics (Microsystem Technology & Microrobotics). Springer, 2002.

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Agent-Oriented Software Engineering: Reflections on Architectures, Methodologies, Languages, and Frameworks. Springer, 2014.

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Agent-Oriented Software Engineering: Reflections on Architectures, Methodologies, Languages, and Frameworks. Springer, 2014.

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Book chapters on the topic "Robotics, software architecture, SLAM"

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Chinnappan, Katerina, Ivano Malavolta, Grace A. Lewis, Michel Albonico, and Patricia Lago. "Architectural Tactics for Energy-Aware Robotics Software: A Preliminary Study." In Software Architecture. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-86044-8_11.

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Doherty, Patrick, Fredrik Heintz, and David Landén. "A Delegation-Based Architecture for Collaborative Robotics." In Agent-Oriented Software Engineering XI. Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-22636-6_13.

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Arena, Paolo, Luca Patané, Pietro Savio Termini, Alessandra Vitanza, and Roland Strauss. "Software/Hardware Issues in Modelling Insect Brain Architecture." In Intelligent Robotics and Applications. Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-25489-5_5.

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Moctezuma Eugenio, Juan Carlos, and Miguel Arias Estrada. "Hardware/Software FPGA Architecture for Robotics Applications." In Lecture Notes in Computer Science. Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-00641-8_6.

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Geisinger, Michael, Simon Barner, Martin Wojtczyk, and Alois Knoll. "A Software Architecture for Model-Based Programming of Robot Systems." In Advances in Robotics Research. Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01213-6_13.

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Steiner, Jens, Karsten Diethers, Matthias Hagner, and Ursula Goltz. "Model Based Quality Assurance for a Robotic Software Architecture." In Springer Tracts in Advanced Robotics. Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16785-0_21.

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Steiner, Jens, Ursula Goltz, and Jochen Maaß. "Self-management within a Software Architecture for Parallel Kinematic Machines." In Springer Tracts in Advanced Robotics. Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16785-0_20.

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Mosteo, Alejandro R., and Luis Montano. "Sancta: An Ada 2005 General-Purpose Architecture for Mobile Robotics Research." In Reliable Software Technologies – Ada Europe 2007. Springer Berlin Heidelberg, 2007. http://dx.doi.org/10.1007/978-3-540-73230-3_17.

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Osterloh, Christoph, Marek Litza, and Erik Maehle. "Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks." In Advances in Robotics Research. Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-01213-6_31.

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Biggs, Geoffrey, Noriaki Ando, and Tetsuo Kotoku. "Coordinating Software Components in a Component-Based Architecture for Robotics." In Simulation, Modeling, and Programming for Autonomous Robots. Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-17319-6_18.

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Conference papers on the topic "Robotics, software architecture, SLAM"

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Park, Hong Seong. "Software-Defined Robotics: Architecture, Information Model, and Implementation *." In 2025 IEEE/SICE International Symposium on System Integration (SII). IEEE, 2025. https://doi.org/10.1109/sii59315.2025.10870595.

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Silva, Uanderson, Matheus Andrade, José Cruz, Andresa Silva, Augusto Sampaio, and Kiev Gama. "Micro Frontend Architecture for Robotic Systems: a Systematic Approach With Design Rationale." In 2025 IEEE/ACM 7th International Workshop on Robotics Software Engineering (RoSE). IEEE, 2025. https://doi.org/10.1109/rose66716.2025.00005.

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Bertoli, Annalisa, Federica Ferraguti, and Cesare Fantuzzi. "An IoT-enabled Software Architecture for User-Friendly Fault Diagnosis and Identification: The Welding Cobot Use Case." In 2024 7th Iberian Robotics Conference (ROBOT). IEEE, 2024. https://doi.org/10.1109/robot61475.2024.10797369.

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Castro, Diego Alberto, Carlos Fernando Morales, and R. Fernando De la Rosa. "Multi-robot SLAM on Client-Server Architecture." In 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium (SBR-LARS). IEEE, 2012. http://dx.doi.org/10.1109/sbr-lars.2012.39.

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Liu, Zexi, Yanqing Liu, Xin Wang, and Dongchen Zhu. "Visual-LiDAR Fusion Relocation for SLAM Systems." In 2023 International Conference on Frontiers of Robotics and Software Engineering (FRSE). IEEE, 2023. http://dx.doi.org/10.1109/frse58934.2023.00045.

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Pesantes, Mery, Cuauhtemoc Lemus, Hugo A. Mitre, and Jezreel Mejia. "Software Process Architecture: Roadmap." In 2012 IEEE Electronics, Robotics and Automotive Mechanics Conference (CERMA). IEEE, 2012. http://dx.doi.org/10.1109/cerma.2012.25.

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Bergner, Klaus, Andreas Rausch, Marc Sihling, Alexander Vilbig, Katja Popp, and Thomas Reicher. "Software Architecture for Cooperative Buildings." In 18th International Symposium on Automation and Robotics in Construction. International Association for Automation and Robotics in Construction (IAARC), 2001. http://dx.doi.org/10.22260/isarc2001/0002.

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Moxon, Bruce C. "A Multiprocessor-Based Sensor Fusion Software Architecture." In Robotics and IECON '87 Conferences, edited by Rolf-Juergen Ahlers and Michael J. W. Chen. SPIE, 1988. http://dx.doi.org/10.1117/12.942826.

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Bastos, Bruno B., João M. C. S. Da Silva, Brendo S. F. Santos, and Marcelo B. Nogueira. "Proposal of a Low-Cost System Architecture for Prototyping and Learning SLAM." In 2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR). IEEE, 2022. http://dx.doi.org/10.1109/icmerr56497.2022.10097724.

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Henshaw, Carl G., Keith Akins, N. Glenn Creamer, et al. "A software architecture for autonomous orbital robotics." In Defense and Security Symposium, edited by Richard T. Howard and Robert D. Richards. SPIE, 2006. http://dx.doi.org/10.1117/12.672268.

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Reports on the topic "Robotics, software architecture, SLAM"

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Sinanan, Shawn, Amir Naser, Maribel Delatorre, Ahmet Soylemezoglu, and Garry Glaspell. Autonomous robotics development in Robot Operating System (ROS) 2 Humble. Engineer Research and Development Center (U.S.), 2025. https://doi.org/10.21079/11681/49747.

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This report presents a novel Robot Operating System (ROS) 2–based simulation framework designed to facilitate the development and testing of an autonomous navigation stack. Elements of the navigation stack, including lidar odometry, simultaneous localization and mapping (SLAM), and frontier exploration, are discussed in detail. The key features of the navigation stack include real-time performance and scalable architecture. The simulation results were applied to a physical robot. As a result, the physical robot was able to autonomously map the interior of a building and to generate 2D occupanc
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