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Doors and Door Handle Localization for PR2
Botka, Roland ; Španěl, Michal (referee) ; Kapinus, Michal (advisor)
The aim of this work is to design and create a module for locating doors and handles for the robotic platform PR2. Finding the doors should be done separately, which means that the robot finds a door in the room without assistance. Handle position is stored in a file which the data are read from based on the AR code affixed to the door. The result of this module should be a program for the Robotic operating system that will locate the door in the room, and give information about them. These informations will be the basis for the work of another module, which open the door. The final test took place in a faculty robotic laboratory
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Design of a quadcopter model
Provazník, Marek ; Cejpek, Zdeněk (referee) ; Hůlka, Tomáš (advisor)
This thesis is about design of quadcopter model using framework ROS (Robot Operating System) and simulation environment Gazebo and RViz. It contains brief search about drones in general, dynamics of quadcopter and ROS framework basics. The practical part focuses on code of the world, model, actuators controllers and regulation of quadcopter
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Simulation of Unmanned Aircrafts in a Virtual Environment
Lindtner, David ; Lázna, Tomáš (referee) ; Gábrlík, Petr (advisor)
The master thesis deals with the issue of simulation of unmanned aircraft missions in a virtual environment. The aim of the work is to demonstrate basic and more advanced autonomous aerial missions in the simulated environment Gazebo - ROS 2. The work emphasizes the stability of the software solution and the stability of the communication between critical components of the aerial mission.
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Turtlebot3 Burger mobile robotic platform
Lisník, Petr ; Parák, Roman (referee) ; Holoubek, Tomáš (advisor)
This bachelor's thesis focuses on the design and implementation of a control program for the mobile robotic platformTurtleBot3 Burger. The theoretical part of the thesis is devoted to the research of mobile robotics, the description of the mobile robotic platform and the Robotic Operating System (ROS) including its tools and the Gazebo simulation environment. The practical part includes the step-by-step design of the control program, including the build and commissioning of the robot, the design of the control program using computer vision, testing in the Gazebo simulation environment, and subsequent testing on a real robot in the laboratory.
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Simulation of Autonomous Mobile Robots
Janoušek, Radim ; Burian, František (referee) ; Lázna, Tomáš (advisor)
The goal of this work is to implement robotic algorithms for autonomous tasks. The thesis starts with an introduction to the ROS 2 framework, where the basic features of this framework are introduced. This is followed by a comparison of the most popular robotic simulators, including a more detailed description of the Gazebo simulator and the lesser known Webots simulator. The next chapter focuses on the reasons for choosing the Webots simulator for creating the simulated world and describes the process of creating the interior based on the template. The penultimate chapter discusses the creation of robotic platforms in the Webots simulator and the sensors used, including the simulated lidar. In this simulation, the lidar is created with a mock-up of the real device. In the last chapter, the drivers for controlling the robotic platforms are implemented and a package for ROS 2 is created.
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Virtual environment for visualization and simulation in mobile robotics
Pár, Filip ; Cihlář, Miloš (referee) ; Gábrlík, Petr (advisor)
The purpose of this bachelor thesis is to get acquainted with the ROS2 framework. Furthermore, this thesis describes the detailed procedure of creating robot models of the ÚAMT workplace for the Rviz visualization tool and the Gazebo simulation environment. Subsequently, the thesis describes the procedure of creating a two-dimensional map for navigation purposes and a three-dimensional model of a part of the ÚAMT workplace for the use in the Gazebo simulation environment.
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Testing of UWB Sensors For Use in Multi-robot Relative Localization Systems and Design of UWB Plugin for ROS/Gazebo Simulation Environment
Raichl, P. ; Marcon, P.
This paper studies the possibility of using UWB sensors DWM1000 as a part of relative localization systems and a part of local avoidance systems in multi-robot systems, especially UAV swarms. The first part of the paper presents the behavior of UWB sensors DWM1000 in real, various conditions/environments. The second part of this paper describes ROS/Gazebo UWB plugin for relative localization. This plugin was created based on the first part of this paper and it is integrated with an open-source platform for UAVs from the Multi-robot Systems (MRS) group at the Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague. A Simple simulation of a multi-robot system with the designed, integrated plugin is shown.
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Wooden construction of the movable roof of the garden pavilion in Český Krumlov castle
Bláha, Jiří ; Kloiber, Michal
A remarkable technical monument is situated on one of the garden terraces belonging to the state castle and chateau in Český Krumlov. The umbrella-shaped roof of the lookout pavilion can be lifted about a meter above the masoned parapet allowing the visitor a beautiful view of the World Heritage town panorama when the weather is fine. In windy conditions or in case of heavy rain the roof could be lowered and the pavilion thus closed. The lifting is operated by means of a wooden lever mechanism with a counterweight box hidden in the basement level of the building. The unique construction was built in 1823 and needed to be partially altered in 1830-1835. However, since then it has been preserved in a surprisingly authentic state even allowing practical demonstrations of its original function. Prior to recent repairs in 2016, a comprehensive non-destructive survey was conducted. The extent of the damage discovered was determined by measuring the speed of elastic wave propagation using stress waves (Fakkop 2D) and measuring the mechanical resistance when drilling with a thin bit using resistance micro-drilling (Resistograph). Another method based on loading timber by means of a\nminiature loading jack inserted into a drilled hole was selected to determine the current mechanical properties.
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Autonomous mobile robot motion planning strategy design
Doseděl, Miroslav ; Králík, Jan (referee) ; Věchet, Stanislav (advisor)
This work is concerned with planning the movement of the robot in space and near plants. The main goal is to realize the movement of a robot designed for operation in indoor areas of buildings for watering indoor plants. In the first part of the thesis, existing algorithms for motion planning and obstacle avoidance are presented. In the next part, a search dealing with Framework ROS is written. The individual movements performed by the robot are then described and testing on the real robot is carried out at the end.
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