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Using LabVIEW and ros for planning and coordination of robot missions, the example of ERL emergency robots and university rover challenge competitions

Węgierska Agnieszka, Andrzejczak Kacper, Kujawiński Mateusz, Granosik Grzegorz

Journal of Automation Mobile Robotics and Intelligent Systems

2019

Vol. 13, No. 2

68--81

The article presents the main functionalities and principles for operating a software for multi-robotic mission coordination developed for competitions ERL Emergency Robots 2017, as well as its adaptation during University Rover Challenge. We have started with an overview of similar software used in commercial applications or developed by other research groups. Then, our solution is thoroughly described, with its user interface made in LabVIEW and the communication layer based on ROS software. Two cases of robotic competitions proved our software to be useful both for planning and for managing the mission. The system supports the operator in teleoperation and during partial autonomy of the robots. It offers reporting on the robots’ positions, Points of Interest (POI), tasks status. Reports are generated in KML/KMZ formats, and allow us to replay the mission, and analyze it.