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Software library for path planning in complex construction environments
Published in Jan Karlshøj, Raimar Scherer, eWork and eBusiness in Architecture, Engineering and Construction, 2018
K. Kazakov, S. Morozov, V. Semenov, V. Zolotov
To identify path conflicts the motion planning theory and software tools should be applied [2]. Unfortunately, motion planning problems are PSPACE-hard. Even being formulated in local statements, these problems can cause serious computational difficulties. Popular software libraries such as Motion Planning Kit (MPK), OpenRave, Open Motion Planning Library (OMPL) are basically intended for such local formulations [3, 4, 5]. Mathematical arsenal of the libraries is mainly based on sampling and searching techniques such as RRT (Rapidly Exploring Trees) and PRM (Probabilistic Roadmaps). These demonstrate high efficiency in disparate applications such as humanoid robotics, automotive manufacturing, computational geography, computer graphics, computational biology, but fail in complex construction environments with non-trivial topology and dynamic behavior.
Teams of robots in additive manufacturing: a review
Published in Virtual and Physical Prototyping, 2023
Abdullah Alhijaily, Zekai Murat Kilic, A. N. Paulo Bartolo
However, the most popular and most developed middleware is the Robot Operating System (ROS) (Koubaa 2016; Quigley et al. 2009). ROS is open-source and designed to be extendable by the community. It features a collection of tools and functions that simplifies communications with robots, and includes different graph concepts, such as nodes, topics, and messages. Nodes are executables that communicate with other nodes (e.g. a node that controls the extruder and another node that measures the nozzle temperature). Topics are buses that exchange data between nodes. Messages are the data transferred between topics. One of the communications means in ROS is the publisher/subscriber model where a node publishes or subscribes to a topic. ROS allows the user to integrate it with other frameworks such as OpenRAVE and Player. It also supports a wide range of actuators, sensors, and robots in the market. ROS has been used in cooperative AM mainly for device control and communications (Zhang et al. 2018). However, it is not dedicated to real-time applications and was not developed for cooperative robots. However, these limitations were addressed through the development of ROS2 allowing its usage for cooperative robots and real-time robotic applications (Why ROS 2? 2021). Figure 19 shows how ROS can be used as a middleware for an AM system based on mobile robots, which can be easily expanded for cooperative AM.