Development of an Autonomous Indoor Robot for Mapping Applications

Michael O'Hara; Kaitlyn Mangano; Gilbert Lai; John Sebastian; Mario Montuori; Arman Molki; Tolga Kaya

doi:10.1109/ICEET53442.2021.9659668

Development of an Autonomous Indoor Robot for Mapping Applications

Michael O'Hara
, Kaitlyn Mangano
, Gilbert Lai
, John Sebastian
, Mario Montuori
, Arman Molki
, Tolga Kaya

Sacred Heart University
RD
Application Marketing Engineer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

This body of research is built around the development of a roaming robot for indoor settings. Quanser's ground robotics system, QBot 2e, was utilized to map parts of a room along with collecting temperature and light intensity data while automatically navigating around various obstacles. Our research includes characterization of drift in obstacle mapping, heading correction, integration of sensors, and pathfinding. The models used were implemented in MATLAB and Simulink using QUARC and run on an onboard Raspberry Pi in the QBot 2e.

Original language	English
Title of host publication	7th International Conference on Engineering and Emerging Technologies, ICEET 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665427142
DOIs	https://doi.org/10.1109/ICEET53442.2021.9659668
Publication status	Published - 2021
Externally published	Yes
Event	7th International Conference on Engineering and Emerging Technologies, ICEET 2021 - Istanbul, Turkey Duration: 27 Oct 2021 → 28 Oct 2021

Publication series

Name	7th International Conference on Engineering and Emerging Technologies, ICEET 2021

Conference

Conference	7th International Conference on Engineering and Emerging Technologies, ICEET 2021
Country/Territory	Turkey
City	Istanbul
Period	27/10/21 → 28/10/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

Autonomous operations
Ground robots
MATLAB
Simulink

Access to Document

10.1109/ICEET53442.2021.9659668

Cite this

O'Hara, M., Mangano, K., Lai, G., Sebastian, J., Montuori, M., Molki, A., & Kaya, T. (2021). Development of an Autonomous Indoor Robot for Mapping Applications. In 7th International Conference on Engineering and Emerging Technologies, ICEET 2021 (7th International Conference on Engineering and Emerging Technologies, ICEET 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICEET53442.2021.9659668

@inproceedings{33b57089afe64f099aaa604157b12686,

title = "Development of an Autonomous Indoor Robot for Mapping Applications",

abstract = "This body of research is built around the development of a roaming robot for indoor settings. Quanser's ground robotics system, QBot 2e, was utilized to map parts of a room along with collecting temperature and light intensity data while automatically navigating around various obstacles. Our research includes characterization of drift in obstacle mapping, heading correction, integration of sensors, and pathfinding. The models used were implemented in MATLAB and Simulink using QUARC and run on an onboard Raspberry Pi in the QBot 2e.",

keywords = "Autonomous operations, Ground robots, MATLAB, Simulink",

author = "Michael O'Hara and Kaitlyn Mangano and Gilbert Lai and John Sebastian and Mario Montuori and Arman Molki and Tolga Kaya",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 7th International Conference on Engineering and Emerging Technologies, ICEET 2021 ; Conference date: 27-10-2021 Through 28-10-2021",

year = "2021",

doi = "10.1109/ICEET53442.2021.9659668",

language = "English",

series = "7th International Conference on Engineering and Emerging Technologies, ICEET 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "7th International Conference on Engineering and Emerging Technologies, ICEET 2021",

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}

O'Hara, M, Mangano, K, Lai, G, Sebastian, J, Montuori, M, Molki, A & Kaya, T 2021, Development of an Autonomous Indoor Robot for Mapping Applications. in 7th International Conference on Engineering and Emerging Technologies, ICEET 2021. 7th International Conference on Engineering and Emerging Technologies, ICEET 2021, Institute of Electrical and Electronics Engineers Inc., 7th International Conference on Engineering and Emerging Technologies, ICEET 2021, Istanbul, Turkey, 27/10/21. https://doi.org/10.1109/ICEET53442.2021.9659668

Development of an Autonomous Indoor Robot for Mapping Applications. / O'Hara, Michael; Mangano, Kaitlyn; Lai, Gilbert et al.
7th International Conference on Engineering and Emerging Technologies, ICEET 2021. Institute of Electrical and Electronics Engineers Inc., 2021. (7th International Conference on Engineering and Emerging Technologies, ICEET 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Development of an Autonomous Indoor Robot for Mapping Applications

AU - O'Hara, Michael

AU - Mangano, Kaitlyn

AU - Lai, Gilbert

AU - Sebastian, John

AU - Montuori, Mario

AU - Molki, Arman

AU - Kaya, Tolga

PY - 2021

Y1 - 2021

N2 - This body of research is built around the development of a roaming robot for indoor settings. Quanser's ground robotics system, QBot 2e, was utilized to map parts of a room along with collecting temperature and light intensity data while automatically navigating around various obstacles. Our research includes characterization of drift in obstacle mapping, heading correction, integration of sensors, and pathfinding. The models used were implemented in MATLAB and Simulink using QUARC and run on an onboard Raspberry Pi in the QBot 2e.

AB - This body of research is built around the development of a roaming robot for indoor settings. Quanser's ground robotics system, QBot 2e, was utilized to map parts of a room along with collecting temperature and light intensity data while automatically navigating around various obstacles. Our research includes characterization of drift in obstacle mapping, heading correction, integration of sensors, and pathfinding. The models used were implemented in MATLAB and Simulink using QUARC and run on an onboard Raspberry Pi in the QBot 2e.

KW - Autonomous operations

KW - Ground robots

KW - MATLAB

KW - Simulink

UR - https://www.scopus.com/pages/publications/85124649409

U2 - 10.1109/ICEET53442.2021.9659668

DO - 10.1109/ICEET53442.2021.9659668

M3 - Conference contribution

AN - SCOPUS:85124649409

T3 - 7th International Conference on Engineering and Emerging Technologies, ICEET 2021

BT - 7th International Conference on Engineering and Emerging Technologies, ICEET 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 7th International Conference on Engineering and Emerging Technologies, ICEET 2021

Y2 - 27 October 2021 through 28 October 2021

ER -

O'Hara M, Mangano K, Lai G, Sebastian J, Montuori M, Molki A et al. Development of an Autonomous Indoor Robot for Mapping Applications. In 7th International Conference on Engineering and Emerging Technologies, ICEET 2021. Institute of Electrical and Electronics Engineers Inc. 2021. (7th International Conference on Engineering and Emerging Technologies, ICEET 2021). doi: 10.1109/ICEET53442.2021.9659668

Development of an Autonomous Indoor Robot for Mapping Applications

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

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