Projects 研究開發

HyphaROS Github Repository
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List 專案列表

Recent 近期專案：

• ROS Industrial Auto-Blending X ABB RobotStudio
  
  • [Video] ROS-I (VirtualBox) with ABB RobotStudio Demo
  • [Reference] ROS-I Scan-N-Plan
  • [Features] Pointcloud Scanning, Plane Detection/Segmentation,
    Edge Detection, Edge/Blending/Scanning Path Generation,
    Simulation and Execution (with RVIZ GUI).

• HyphaROS MPC MiniCar (1:20) – Code Released!
  
  • [Github] HyphaROS MiniCar
  • [Reference] ETHZ ORCA Project
  • [Reference] Georgia Tech Autorally
  • [Features] Nonlinear Bicycle MPC, Pure-Pursuit, Lidar-Encoder, Ackermann, Odroid XU4/STM32, Gmapping, Hector-SLAM, Karto-SLAM, MRPT-ICP, Stage.

• HyphaROS 1/8 AutoRover (Outdoor Application)
  
  • [Video] Indoor High Speed Demo (outdoor ver. will be released soon)
  • [Reference] Georgia Tech Autorally
  • [Features] GPS/IMU/encoder EKF fused, RVIZ_Satellite supported,  Pure Pursuit/TEB controller, Motor Speed Closed loop, etc.
  • [Github] Will be released soon~

• Drone Swarm & Autonomous Unknown Area Exploration
  • [Video] Quadrotor Indoor Autonomous Exploration

• HyphaROS RaceCar
  
  • [Video] L1 (pure pursuit) controller version (~3 m/s)
  • [Video] TEB controller version (autonomous reversing control)
  • [Video] Workshop Record
  • [Discuss] Introduction on ROS Discourse 
  • [Github] Source codes and documents
  • [Slides] Day1 & Day2

• ADLINK DDSBot: robots swarm architecture
  
  
  • [Video] ROS1 & ROS2 Comparsion
  • [Discuss] Introduction on ROS Discourse
  • [Github] Source codes and documents

• UWB Fuse AMCL with Robot Localization
  • [Video] Real Testing Demo
  • [Slides] Architecture & Implementation

• Stereo Visual Inertial Odometry (loosely coupled ESKF)
  • [Video] Onboard Testing 
  • [Paper] IMAV 2017 Proceeding
  • [Github] Source codes

• Auto Exploration Mapping
  • [Video] Auto mapping demo (simulation)
  • [Github] Source codes and documents

• Human Tracking – upper body detector X leg tracker
  • [Video] Real implementation on low-cost SBC
  • [Github] SPENCER projects (reference)

Past 早期專案：

• Ardrone Indoor Autonomous Navigation (LSD-SLAM & MSF-EKF)
  
  
  • [Video] Demo video
  • [News] ROS official News
  • [Notes] Concept & Architecture
  • [Github] Maintained version (hypharos)
  • [Github] Original repository

• RRT: Qt-GUI based RRT Demo
  • [Video] Demo video
  • [Github] Source codes

• Video Demonstration

• Helicopter 8 dof dynamic model X INDI
  
• CLRRT – Rover system simulation
  
• Rover – Lane Following (IPM + RANSAC)
  
  

• Source Codes Sharing
  • CubeSat: Design & Operation Cross-checKing Services

• Notes & Tutorials
  • HyphaROS_Indigo_Developing_Notes
  • Odroid XU4 14.04 ROS Basic configuration
  • PS4Eye X ROS I – Hardware Modification
  • PS4Eye X ROS II – Ubuntu Connection