COMPAS Mobile Robot Relocalization

Robot localization using external measuring device (total station).

Photo from video shot by MASDFAB 1920 team.

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Sources

Code adapted from source code by Selen Ercan and Sandro Meier at Gramazio Kohler Research, ETH Zurich (2019).

Original code: gramaziokohler/IF_jamming/if_jamming/localization

Citing

Ercan, Selen, Sandro Meier, Fabio Gramazio, and Matthias Kohler. 2019. "Automated Localization of a Mobile Construction Robot with an External Measurement Device." In Proceedings of the 36th International Symposium on Automation and Robotics in Construction (ISARC 2019), 929-36. International Association on Automation and Robotics in Construction. https://doi.org/10.3929/ethz-b-000328442.

@inproceedings{ercan_automated_2019,
	title = {Automated {Localization} of a {Mobile} {Construction} {Robot} with an {External} {Measurement} {Device}},
	copyright = {http://rightsstatements.org/page/InC-NC/1.0/},
	url = {https://www.research-collection.ethz.ch/handle/20.500.11850/328442},
	doi = {10.3929/ethz-b-000328442},
	language = {en},
	booktitle = {Proceedings of the 36th {International} {Symposium} on {Automation} and {Robotics} in {Construction} ({ISARC} 2019)},
	publisher = {International Association on Automation and Robotics in Construction},
	author = {Ercan, Selen and Meier, Sandro and Gramazio, Fabio and Kohler, Matthias},
	year = {2019},
	note = {Accepted: 2019-09-11T08:51:48Z},
	pages = {929--936},
}

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[1.0.7] - 2021-08-25

Changed

• Bumped max compas version to <1.8.

[1.0.6] - 2021-03-18

Changed

• Bumped max compas version to 1.2.

[1.0.5] - 2021-02-09

Added

• Monkeypatch added for compas._os.prepare_environment applied if compas version is less than v0.19.2 to get around a bug affecting compas.rpc.proxy

Changed

• MeasurementPoint moved to its own module and made available as second level import (compas_mobile_robot_reloc.MeasurementPoint). Still available from compas_mobile_robot_reloc.utils for backwards compatibility.

[1.0.4] - 2021-02-08

Changed

• Dependency version specifier for compas' low bound set to 0.17.2.

[1.0.3] - 2021-02-01

Changed

• Bumped compas to <2.0.

[1.0.2] - 2021-01-04

No changes, version bumped to give give a clear indication of which conda package to use. (Lingering package compas-mobile-robot-reloc on conda forge.)

[1.0.1] - 2020-12-18

Added

• Moved MeasurementPoint from grasshopper document to compas_mobile_robot_reloc.utils.

[1.0.0] - 2020-12-18

Package broken out from rapid_clay_formations_fab.

Typing and tests added.

MIT License

Copyright (c) 2020 Gramazio Kohler Research

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.