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Řídicí systém robota pro sběr badmintonových míčků
Červeň, Martin ; Obdržálek, David (advisor) ; Vodrážka, Jindřich (referee)
Badminton is a racquet game played on court with shuttles made from feath- ers or plastic. Top players train with many shuttlecocks at once, which are fed by coach from hand. After a short training period, shuttlecocks are scat- tered around the court, which need to be picked up so that coach can feed them from hand. In this thesis we created software for autonomous robot that de- tects shuttlecocks with camera, estimates their position and picks them up. We implemented this as nodes in ROS middleware. During development we created simulated environment in Gazebo, and created plugin that simulates shuttle pick- ing. We also created fully working picking mechanism of real shuttlecocks based on rotary brushes powered by motors, utilising 3D printing. Furthermore, we cre- ated and annotated dataset for object detection of over 2500 images and 18500 objects that we used for training and evaluation of state of the art neural net- work, that detects shuttlecocks from video. As part of our solution we developed ROS nodes that allows us to specify working area and area for filtering detections using RViz interactive markers. 1
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Řídicí systém robota pro sběr badmintonových míčků
Červeň, Martin ; Obdržálek, David (advisor) ; Vodrážka, Jindřich (referee)
Badminton is a racquet game played on court with shuttles made from feathers or plastic. Top players train with hundreds of shuttles at once which are fed by coach from hand. After a short training period there are hundreds of shuttles scattered around the court, which need to be arranged in rows so that coach can feed them from hand. In this thesis we created software for autonomous robot that detects shuttlecocks with camera, estimates their position and picks them up. We implemented this as nodes in ROS middleware. During development we created simulated environment in Gazebo simulator where we tested our solution. 1
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Artificial Intelligence for Go on Non-standard Topologies
Červeň, Martin ; Gemrot, Jakub (advisor) ; Brunetto, Robert (referee)
Go is a popular strategic game for two players. It is usually played on a squared board of 19x19. The aim of this thesis is to create an application allowing a user to play Go on any board defined by a graph, such as sphere and torus. We created a web based client-server application, written in JavaScript and Node.js, that is using protocol Websockets for fast communication. Application allows user to play against other players on the Internet. Server can support multiple concurrent games at the same time. Boards can be created by modelling tool Blender and then imported into the application. Our application supports 3D rendering of these boards in web client using WebGL. It has responsive control, allowing changes of view by rotating, moving and zooming. Users can also play against artificial intelligence. 1
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