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

Author: Grafiati

Published: 9 March 2023

Last updated: 31 July 2025

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1

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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11

Goertzel, Ben, David Hanson, and Gino Yu. "A Software Architecture for Generally Intelligent Humanoid Robotics." Procedia Computer Science 41 (2014): 158–63. http://dx.doi.org/10.1016/j.procs.2014.11.099.

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Cañas Plaza, José María, Jesús Ruiz Ayúcar, Carlos Agüero Durán, and Francisco Martín Rico. "Jde-neoc: component oriented software architecture for robotics." Journal of Physical Agents (JoPha) 1, no. 1 (2007): 1–6. http://dx.doi.org/10.14198/jopha.2007.1.1.01.

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Alsadik, Bashar, and Samer Karam. "The Simultaneous Localization and Mapping (SLAM)-An Overview." Journal of Applied Science and Technology Trends 2, no. 04 (2021): 120–31. http://dx.doi.org/10.38094/jastt204117.

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Positioning is a need for many applications related to mapping and navigation either in civilian or military domains. The significant developments in satellite-based techniques, sensors, telecommunications, computer hardware and software, image processing, etc. positively influenced to solve the positioning problem efficiently and instantaneously. Accordingly, the mentioned development empowered the applications and advancement of autonomous navigation. One of the most interesting developed positioning techniques is what is called in robotics as the Simultaneous Localization and Mapping SLAM.

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Alsadik, Bashar, and Samer Karam. "The Simultaneous Localization and Mapping (SLAM)-An Overview." Surveying and Geospatial Engineering Journal 2, no. 01 (2021): 01–12. http://dx.doi.org/10.38094/sgej1027.

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Positioning is a need for many applications related to mapping and navigation either in civilian or military domains. The significant developments in satellite-based techniques, sensors, telecommunications, computer hardware and software, image processing, etc. positively influenced to solve the positioning problem efficiently and instantaneously. Accordingly, the mentioned development empowered the applications and advancement of autonomous navigation. One of the most interesting developed positioning techniques is what is called in robotics as the Simultaneous Localization and Mapping SLAM.

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15

Erdemir, Gokhan, Ahmet Emin Kuzucuoglu, Erkan Kaplanoglu, and Yasser El-Kahlout. "Design and Implementation of Web Based Mobile Robot Control Platform for Robotics Education." Applied Mechanics and Materials 704 (December 2014): 283–87. http://dx.doi.org/10.4028/www.scientific.net/amm.704.283.

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In this paper, we present a particular case of a dynamic, real-time and efficient web-based mobile robot experiment platform (WEB.MREP) design for mobile robotic applications. The design and construction of a multipurpose and WEB.MREP for the application of different path planning and tracking, simultaneous localization and mapping (SLAM) and robot vision techniques for mobile robotic system is the main purpose of this study. The designed and constructed experiment platform consists of five main components: Festo Robotino mobile robot sets, a designed experimental area, a server software, web

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Bilokon, O. S. "Software Architecture of Navigation Systems for Control Modules of Robotics." Èlektronnoe modelirovanie 45, no. 5 (2023): 103–12. http://dx.doi.org/10.15407/emodel.45.05.103.

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The peculiarities of the software architecture of navigation systems of robotic control modules are considered. Particular attention is focused on the reproduced classifications of the characteristics of architectural solutions. The three-functional architecture of the Shakey robot, the architecture of R. Brooks (Subsumption), and Boltzmann's intellectual model were studied in detail. Three-level architectural system LAAS, multi-level architecture CLARAty, intelligent real-time control system CIRCA are also considered.

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Medvidovic, Nenad, Hossein Tajalli, Joshua Garcia, Ivo Krka, Yuriy Brun, and George Edwards. "Engineering Heterogeneous Robotics Systems: A Software Architecture-Based Approach." Computer 44, no. 5 (2011): 62–71. http://dx.doi.org/10.1109/mc.2010.368.

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18

Khosoussi, Kasra, Matthew Giamou, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake, and Jonathan P. How. "Reliable Graphs for SLAM." International Journal of Robotics Research 38, no. 2-3 (2019): 260–98. http://dx.doi.org/10.1177/0278364918823086.

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Estimation-over-graphs (EoG) is a class of estimation problems that admit a natural graphical representation. Several key problems in robotics and sensor networks, including sensor network localization, synchronization over a group, and simultaneous localization and mapping (SLAM) fall into this category. We pursue two main goals in this work. First, we aim to characterize the impact of the graphical structure of SLAM and related problems on estimation reliability. We draw connections between several notions of graph connectivity and various properties of the underlying estimation problem. In

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Ramos, Leonardo, Gabriel Lisbôa Guimarães Divino, Guilherme Cano Lopes, Breno Bernard Nicolau De França, Leonardo Montecchi, and Esther Luna Colombini. "The RoCS Framework to Support the Development of Autonomous Robots." Journal of Software Engineering Research and Development 7 (December 21, 2019): 10. http://dx.doi.org/10.5753/jserd.2019.470.

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With the expansion of autonomous robotics and its applications (e.g. medical, competition, military), the biggest hurdle in developing mobile robots lies in endowing them with the ability to interact with the environment and to make correct decisions so that their tasks can be executed successfully. However, as the complexity of robotic systems grows, the need to organize and modularize software for their correct functioning also becomes a challenge, making the development of software for controlling robots a complex and intricate task. In the robotics domain, there is a lack of reference soft

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Fang, Baofu, and Zhiqiang Zhan. "A visual SLAM method based on point-line fusion in weak-matching scene." International Journal of Advanced Robotic Systems 17, no. 2 (2020): 172988142090419. http://dx.doi.org/10.1177/1729881420904193.

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Visual simultaneous localization and mapping (SLAM) is well-known to be one of the research areas in robotics. There are many challenges in traditional point feature-based approaches, such as insufficient point features, motion jitter, and low localization accuracy in low-texture scenes, which reduce the performance of the algorithms. In this article, we propose an RGB-D SLAM system to handle these situations, which is named Point-Line Fusion (PLF)-SLAM. We utilize both points and line segments throughout the process of our work. Specifically, we present a new line segment extraction method to

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21

He, Ang, Xiangda Wang, Xinyu Song, Hongwei Huang, and Peng Liu. "Warehouse Small Cargo-carrying UAV Design and Environmental T265 Camera Placement Angle Study." Journal of Engineering System 1, no. 4 (2023): 50–54. http://dx.doi.org/10.62517/jes.202302410.

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The Intel RealSense Tracking Camera T265 is a tracking camera that uses its own Vi-Slam algorithm to output horizontal and vertical coordinates, which has a wide range of applications in drones, unmanned boats, and unmanned vehicles. In this paper, we utilize the T265 and the Pixhawk4 (PX4) flight controller to build a Robotics Operating System (ROS)-based, fixed-point cruise-capable, self-taking-off and landing unmanned aerial vehicle (UAV) for cargo loading. The T265 is a fisheye black and white camera with powerful visual simultaneous localization and mapping (Slam) localization and a large

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Tripicchio, Paolo, Matteo Unetti, Salvatore D’Avella, and Carlo Alberto Avizzano. "Smooth Coverage Path Planning for UAVs with Model Predictive Control Trajectory Tracking." Electronics 12, no. 10 (2023): 2310. http://dx.doi.org/10.3390/electronics12102310.

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Within the Industry 4.0 ecosystem, Inspection Robotics is one fundamental technology to speed up monitoring processes and obtain good accuracy and performance of the inspections while avoiding possible safety issues for human personnel. This manuscript investigates the robotics inspection of areas and surfaces employing Unmanned Aerial Vehicles (UAVs). The contribution starts by addressing the problem of coverage path planning and proposes a smoothing approach intended to reduce both flight time and memory consumption to store the target navigation path. Evaluation tests are conducted on a qua

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Malavolta, Ivano, Grace A. Lewis, Bradley Schmerl, Patricia Lago, and David Garlan. "Mining guidelines for architecting robotics software." Journal of Systems and Software 178 (August 2021): 110969. http://dx.doi.org/10.1016/j.jss.2021.110969.

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Kameyama, Michitaka. "Special Issue on Computer Architecture for Robotics." Journal of Robotics and Mechatronics 2, no. 6 (1990): 417. http://dx.doi.org/10.20965/jrm.1990.p0417.

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In the realization of intelligent robots, highly intelligent manipulation and movement techniques are required such as intelligent man-machine interfaces, intelligent information processing for path planning and problem solutions, practical robot vision, and high-speed sensor signal processing. Thus, very high-speed processing to cope with vast amounts of data as well as the development of various algorithms has become important subjects. To fulfill such requirements, the development of high-performance computer architecture using advanced microelectronics technology is required. For these pur

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Bingham, Brian S., Jeffrey M. Walls, and Ryan M. Eustice. "Development of a Flexible Command and Control Software Architecture for Marine Robotic Applications." Marine Technology Society Journal 45, no. 3 (2011): 25–36. http://dx.doi.org/10.4031/mtsj.45.3.4.

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AbstractThis paper reports the implementation of a supervisory control framework and modular software architecture built around the lightweight communication and marshalling (LCM) publish/subscribe message passing system. In particular, we examine two diverse marine robotics applications using this modular system: (i) the development of an unmanned port security vehicle, a robotic surface platform to support first responders reacting to transportation security incidents in harbor environments, and (ii) the adaptation of a commercial off-the-shelf autonomous underwater vehicle (the Ocean-Server

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Blank, Douglas, Lisa Meeden, and Deepak Kumar. "Python robotics." ACM SIGCSE Bulletin 35, no. 1 (2003): 317–21. http://dx.doi.org/10.1145/792548.611996.

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Monthe, Valery Marcial, Laurent Nana, and Georges Edouard Kouamou. "A Model-Based Approach for Common Representation and Description of Robotics Software Architectures." Applied Sciences 12, no. 6 (2022): 2982. http://dx.doi.org/10.3390/app12062982.

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Unlike conventional software, robotic software suffers from a lack of methods and processes that could systematize and facilitate development. Thus, the application of software engineering techniques is at the heart of current issues in robotics. The work presented in this paper aims to facilitate the development of robotic software and to facilitate communication between experts in the field through the use of software engineering techniques and methods. It proposes RsaML (Robotic Software Architecture Modeling Language), a Domain Specific Modeling Language (DSML) dedicated to robotics, which

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Seo, Jungwon, Jamie Paik, and Mark Yim. "Modular Reconfigurable Robotics." Annual Review of Control, Robotics, and Autonomous Systems 2, no. 1 (2019): 63–88. http://dx.doi.org/10.1146/annurev-control-053018-023834.

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This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be versatile, robust, and low cost compared with other conventional robot systems. MRR systems thus have the potential to outperform traditional systems with a fixed morphology when carrying out tasks that require a high level of flexibility. We begin by introducing the taxonomy of MRRs based on their hardware architecture. We then examine recen

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Ebel, Henrik, and Peter Eberhard. "Cooperative transportation: realizing the promises of robotic networks using a tailored software/hardware architecture." at - Automatisierungstechnik 70, no. 4 (2022): 378–88. http://dx.doi.org/10.1515/auto-2021-0105.

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Abstract With cooperative transportation, the paper looks at a demanding problem from distributed robotics. At its heart, the proposed transportation scheme uses distributed model predictive control. Yet, distributed control alone does not suffice to solve the task. Thus, also distributed organization, a custom software architecture, simulation, and custom robotic hardware are dealt with, bridging the gap between distributed control theory and practical robotics. The robots are enabled to transport arbitrarily-shaped objects, automatically adapting to changing circumstances and numbers of robo

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Krasnosky, Kristopher, Christopher Roman, and David Casagrande. "A bathymetric mapping and SLAM dataset with high-precision ground truth for marine robotics." International Journal of Robotics Research 41, no. 1 (2021): 12–19. http://dx.doi.org/10.1177/02783649211044749.

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In recent years, sonar systems for surface and underwater vehicles have increased in resolution and become significantly less expensive. As such, these systems are viable at a wide range of price points and are appropriate for a broad set of applications on surface and underwater vehicles. However, to take full advantage of these high-resolution sensors for seafloor mapping tasks an adequate navigation solution is also required. In GPS-denied environments this usually necessitates a simultaneous localization and mapping (SLAM) technique to maintain good accuracy with minimal error accumulation

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Yamashita, Atsushi, Akio Nakamura, and Makoto Kurumisawa. "Special Issue on Advanced Image Processing Techniques for Robotics and Automation (Part 1)." International Journal of Automation Technology 19, no. 3 (2025): 177. https://doi.org/10.20965/ijat.2025.p0177.

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The demand for sensing in robotics and automation has increased because of a decrease in the labor force. Recent advances in computational performance have bolstered the widespread use of image processing technology across various applications. This special issue aims to provide researchers with the opportunity to access the latest research and practical case studies on advanced image processing, computer vision, and sensing techniques for robotics and automation. The topics of interest in this special issue are as follows: 1) Theory and algorithms: Image Processing, Computer Vision, Pattern R

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Kirill, Kirsanov. "The Architecture of Robotics Control Software for Heterogeneous Mobile Robots Network." Procedia Engineering 69 (2014): 216–21. http://dx.doi.org/10.1016/j.proeng.2014.02.224.

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Liang, Can, Liangxu Sun, Shuaiye Luo, Ruihao Wu, and Xingnuo Liu. "Design of an Intelligent AGV System Based on Dynamic Navigation and Warehouse Visualization." Frontiers in Computing and Intelligent Systems 12, no. 1 (2025): 47–49. https://doi.org/10.54097/sx8bd911.

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Focusing on the core role of intelligent AGV systems in smart warehousing, this paper proposes a hybrid navigation architecture integrating magnetic guidance and visual SLAM, combined with visualization technology to achieve full-process monitoring of warehouse operations. The system enhances environmental adaptability through multi-source sensor data fusion (magnetic guidance accuracy: ±1 cm, visual SLAM dynamic correction). Efficient obstacle avoidance is realized via A* global path planning and the Dynamic Window Approach (DWA). A digital twin visualization platform is constructed using the

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Gallagher, John C., and Steven Perretta. "WWW autonomous robotics." ACM SIGCSE Bulletin 34, no. 1 (2002): 13–17. http://dx.doi.org/10.1145/563517.563346.

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Klassner, Frank, and Christopher Continanza. "Mindstorms without robotics." ACM SIGCSE Bulletin 39, no. 1 (2007): 175–79. http://dx.doi.org/10.1145/1227504.1227372.

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Bustos, Pablo, Luis J. Manso, Antonio Bandera, Rubio Juan Pedro Bandera, Ismael García-Varea, and Jesus Martinez-Gomez. "The CORTEX Cognitive Robotics Architecture: use cases." Cognitive Systems Research 55 (January 29, 2019): 107–23. https://doi.org/10.1016/j.cogsys.2019.01.003.

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CORTEX is a cognitive robotics architecture inspired by three key ideas: modularity, internal modelling and graph representations. CORTEX is also a computational framework designed to support early forms of intelligence in real world, human interacting robots, by selecting an a priori functional decomposition of the capabilities of the robot. This set of abilities was then translated to computational modules or agents, each one built as a network of software interconnected components. The nature of these agents can range from pure reactive modules connected to sensors

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Panayiotou, Konstantinos, Emmanouil Tsardoulias, Christoforos Zolotas, Andreas L. Symeonidis, and Loukas Petrou. "A Framework for Rapid Robotic Application Development for Citizen Developers." Software 1, no. 1 (2022): 53–79. http://dx.doi.org/10.3390/software1010004.

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It is common knowledge among computer scientists and software engineers that ”building robotics systems is hard”: it includes applied and specialized knowledge from various scientific fields, such as mechanical, electrical and computer engineering, computer science and physics, among others. To expedite the development of robots, a significant number of robotics-oriented middleware solutions and frameworks exist that provide high-level functionality for the implementation of the in-robot software stack, such as ready-to-use algorithms and sensor/actuator drivers. While the aforementioned focus

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Yamashita, Atsushi, Akio Nakamura, and Makoto Kurumisawa. "Special Issue on Advanced Image Processing Techniques for Robotics and Automation (Part 2)." International Journal of Automation Technology 19, no. 4 (2025): 553. https://doi.org/10.20965/ijat.2025.p0553.

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The demand for sensing in robotics and automation has increased due to the decrease in the labor force. Recent advances in computational performance have advanced the widespread use of image processing technology in various applications. This special issue aims to provide researchers with an opportunity to access the latest research and case studies on advanced image processing, computer vision, and sensing techniques for robotics and automation. The topics of interest in this special issue are as follows: 1) Theory and algorithms: Image processing, computer vision, pattern recognition, object

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Bihanskyi, Bohdan, and Dmytro Kovaliuk. "Comparison of software implementations of the Bundle Adjustment algorithm for the SLAM problem." Proceedings of the NTUU “Igor Sikorsky KPI”. Series: Chemical engineering, ecology and resource saving, no. 1 (March 30, 2025): 48–55. https://doi.org/10.20535/2617-9741.1.2025.325837.

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This paper investigates the problem of Simultaneous Localization and Mapping (SLAM) with a focus on the optimization stage of Bundle Adjustment (BA). This stage is crucial for accurately reconstructing the 3D structure of a scene and estimating camera parameters, which directly impact subsequent computer vision tasks such as tracking, depth map generation, and reconstruction. Modern software libraries implementing the BA algorithm are reviewed, including Ceres Solver, GTSAM, and SymForce. An experimental comparison of these libraries is conducted based on performance criteria such as execution

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Álvarez - Gutiérrez, Edwin Leonel, and Fabián Rolando Jiménez - López. "Global Map Generation and SLAM using LiDAR and Stereo Camera for tracking motion of Mobile Robot." ITECKNE 16, no. 2 (2019): 58–70. http://dx.doi.org/10.15332/iteckne.v16i2.2357.

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One of the topics of greatest attention in mobile robotics is related to the location and mapping of a robot in a given environment and the other, associated with the selection of the devices or sensors necessary to acquire as much external information as possible for the generation of a global map. The purpose of this article is to propose the integration between a caterpillar-type land mobile robot, SLAM tasks with LiDAR devices and the use of stereo vision through the ZED camera for the generation of a 2D global map and the tracking of the movement of the mobile robot using the MATLAB® soft

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Bouhoun, Salah, Rabah Sadoun, and Mourad Adnane. "OpenCL implementation of a SLAM system on an SoC-FPGA." Journal of Systems Architecture 111 (December 2020): 101825. http://dx.doi.org/10.1016/j.sysarc.2020.101825.

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Kalisperakis, I., T. Mandilaras, A. El Saer, et al. "A MODULAR MOBILE MAPPING PLATFORM FOR COMPLEX INDOOR AND OUTDOOR ENVIRONMENTS." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B1-2020 (August 6, 2020): 243–50. http://dx.doi.org/10.5194/isprs-archives-xliii-b1-2020-243-2020.

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Abstract. In this work we present the development of a prototype, mobile mapping platform with modular design and architecture that can be suitably modified to address effectively both outdoors and indoors environments. Our system is built on the Robotics Operation System (ROS) and utilizes multiple sensors to capture images, pointclouds and 3D motion trajectories. These include synchronized cameras with wide angle lenses, a lidar sensor, a GPS/IMU unit and a tracking optical sensor. We report on the individual components of the platform, it’s architecture, the integration and the calibration

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Hexmoor, Henry, and David Kortenkamp. "Issues on building software for hardware agents." Knowledge Engineering Review 10, no. 3 (1995): 301–4. http://dx.doi.org/10.1017/s0269888900007499.

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James Albus states that “an architecture is a description of how a system is constructed from basic components and how those components fit together to form the whole” (Albus, 1995). A software architecture for physical agents reflects the organising principles that its designers have learned from many prior experiences in building such agents. Architectures that have been proposed for physical agents have differed greatly—from subsumption (Brooks, 1986) to Soar (Laird et al., 1987). However, a surprising consensus about architectures is beginning to emerge within the small community of resear

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Lienen, Christian, and Marco Platzner. "Design of Distributed Reconfigurable Robotics Systems with ReconROS." ACM Transactions on Reconfigurable Technology and Systems 15, no. 3 (2022): 1–20. http://dx.doi.org/10.1145/3494571.

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Robotics applications process large amounts of data in real time and require compute platforms that provide high performance and energy efficiency. FPGAs are well suited for many of these applications, but there is a reluctance in the robotics community to use hardware acceleration due to increased design complexity and a lack of consistent programming models across the software/hardware boundary. In this article, we present ReconROS , a framework that integrates the widely used robot operating system (ROS) with ReconOS, which features multithreaded programming of hardware and software threads

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Karalekas, Georgios, Stavros Vologiannidis, and John Kalomiros. "EUROPA: A Case Study for Teaching Sensors, Data Acquisition and Robotics via a ROS-Based Educational Robot." Sensors 20, no. 9 (2020): 2469. http://dx.doi.org/10.3390/s20092469.

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Robots have become a popular educational tool in secondary education, introducing scientific, technological, engineering and mathematical concepts to students all around the globe. In this paper EUROPA, an extensible, open software and open hardware robotic platform is presented focusing on teaching physics, sensors, data acquisition and robotics. EUROPA’s software infrastructure is based οn Robot Operating System (ROS). It includes easy to use interfaces for robot control and interaction with users and thus can easily be incorporated in Science, Technology, Engineering and Mathematics (STEM)

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Geetha, Dr K. S., Deepika M, Mrudhul M J, and S. Vedram. "Localization of a Robot on FPGA with 5-Stage Pipeline RISC-V CPU." INTERANTIONAL JOURNAL OF SCIENTIFIC RESEARCH IN ENGINEERING AND MANAGEMENT 09, no. 03 (2025): 1–9. https://doi.org/10.55041/ijsrem42440.

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Custom silicon offers an untapped opportunity for addressing complex challenges in robotics by providing optimized performance and energy efficiency. RISC-V—a novel, open- source Instruction Set Architecture (ISA)—has been gaining rapid traction due to its flexibility and customizability. In this work, we explore the capabilities of RISC-V in the robotics do- main by implementing a complete localization and motion control solution on an FPGA. Leveraging the reconfigurability of FPGAs alongside the extensibility of a custom five-stage pipelined RISC- V processor, our approach demonstrates signi

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Tschopp, Florian, Michael Riner, Marius Fehr, et al. "VersaVIS—An Open Versatile Multi-Camera Visual-Inertial Sensor Suite." Sensors 20, no. 5 (2020): 1439. http://dx.doi.org/10.3390/s20051439.

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Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and accuracy. However, for a tight sensor fusion, accurate time synchronization of the sensors is often crucial. Changing exposure times, internal sensor filtering, multiple clock sources and unpredictable delays from operation system scheduling and data transfer can make sensor synchronization challenging. In this paper, we present VersaVIS, an Open Versatile

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Mueggler, Elias, Henri Rebecq, Guillermo Gallego, Tobi Delbruck, and Davide Scaramuzza. "The event-camera dataset and simulator: Event-based data for pose estimation, visual odometry, and SLAM." International Journal of Robotics Research 36, no. 2 (2017): 142–49. http://dx.doi.org/10.1177/0278364917691115.

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New vision sensors, such as the dynamic and active-pixel vision sensor (DAVIS), incorporate a conventional global-shutter camera and an event-based sensor in the same pixel array. These sensors have great potential for high-speed robotics and computer vision because they allow us to combine the benefits of conventional cameras with those of event-based sensors: low latency, high temporal resolution, and very high dynamic range. However, new algorithms are required to exploit the sensor characteristics and cope with its unconventional output, which consists of a stream of asynchronous brightnes

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Mohammed, Rahimoddin. "Integrating SQA into the Robotic Software Development Lifecycle." ABC Journal of Advanced Research 12, no. 1 (2023): 31–44. http://dx.doi.org/10.18034/abcjar.v12i1.763.

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Software Quality Assurance (SQA) is integrated into the robotic software development lifecycle to improve robotic system dependability, safety, and performance in this research. The main goals are finding gaps in existing SQA procedures, presenting a specialized SQA integration architecture, and solving robotics difficulties, including hardware-software Integration, real-time processing, and machine learning validation; the research evaluates current SQA methodologies and proposes changes using secondary data from the literature, industry reports, and technical publications. Due to their intri

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Aladem, Mohamed, and Samir Rawashdeh. "Lightweight Visual Odometry for Autonomous Mobile Robots." Sensors 18, no. 9 (2018): 2837. http://dx.doi.org/10.3390/s18092837.

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Vision-based motion estimation is an effective means for mobile robot localization and is often used in conjunction with other sensors for navigation and path planning. This paper presents a low-overhead real-time ego-motion estimation (visual odometry) system based on either a stereo or RGB-D sensor. The algorithm’s accuracy outperforms typical frame-to-frame approaches by maintaining a limited local map, while requiring significantly less memory and computational power in contrast to using global maps common in full visual SLAM methods. The algorithm is evaluated on common publicly available

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