Software Open Access

Software: Reactive Driving Support - CrowdBot Release

David Gonon; Diego F. Paez G.; Aude Billard


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  <identifier identifierType="DOI">10.5281/zenodo.4545820</identifier>
  <creators>
    <creator>
      <creatorName>David Gonon</creatorName>
      <affiliation>LASA-EPFL</affiliation>
    </creator>
    <creator>
      <creatorName>Diego F. Paez G.</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-6143-1432</nameIdentifier>
      <affiliation>LASA-EPFL</affiliation>
    </creator>
    <creator>
      <creatorName>Aude Billard</creatorName>
      <affiliation>LASA-EPFL</affiliation>
    </creator>
  </creators>
  <titles>
    <title>Software: Reactive Driving Support - CrowdBot Release</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2021</publicationYear>
  <subjects>
    <subject>obstacle avoidance</subject>
    <subject>service robots</subject>
    <subject>robot navigation</subject>
    <subject>non-holonomic robots</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2021-02-17</date>
  </dates>
  <language>en</language>
  <resourceType resourceTypeGeneral="Software"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/4545820</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsSupplementTo">https://github.com/epfl-lasa/rds/tree/v1.0.0</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.5281/zenodo.4545819</relatedIdentifier>
    <relatedIdentifier relatedIdentifierType="URL" relationType="IsPartOf">https://zenodo.org/communities/epfl</relatedIdentifier>
  </relatedIdentifiers>
  <version>v1.0.0</version>
  <rightsList>
    <rights rightsURI="https://opensource.org/licenses/MIT">MIT License</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;This first software&amp;nbsp;release includes the main Reactive Driving Support (RDS), a method for robots to avoid imminent collisions with moving obstacles, which has been developed as part of research at LASA, EPFL.&lt;/p&gt;

&lt;p&gt;It is included documentation for its simple implementation through ROS wrapper that includes methods for both non-holonomic robots, as well as, holonomic robots. The main input is obstacles&amp;#39; location and velocity which can be pre-processed dynamic obstacles tracking (e.g., yolo people detector) or raw proximity data (e.g., lidar point-clouds projected in 2D).&lt;/p&gt;

&lt;p&gt;The main package was developed in C++, and has been tested with the robot Qolo with an average frequency of 150Hz for 2 LIDAR inputs in a single core i7 2.2 Ghz.&lt;/p&gt;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/779942/">779942</awardNumber>
      <awardTitle>Safe Robot Navigation in Dense Crowds</awardTitle>
    </fundingReference>
  </fundingReferences>
</resource>
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