Please use this identifier to cite or link to this item: http://hdl.handle.net/10995/103134
Title: Mobile Delivery Robots: Mixed Reality-Based Simulation Relying on ROS and Unity 3D
Authors: Liu, Y.
Novotny, G.
Smirnov, N.
Morales-Alvarez, W.
Olaverri-Monreal, C.
Issue Date: 2020
Publisher: Institute of Electrical and Electronics Engineers Inc.
Citation: Mobile Delivery Robots: Mixed Reality-Based Simulation Relying on ROS and Unity 3D / Y. Liu, G. Novotny, N. Smirnov, et al. — DOI 10.1109/IV47402.2020.9304701 // IEEE Intelligent Vehicles Symposium, Proceedings. — 2020. — P. 15-20. — 9304701.
Abstract: In the context of Intelligent Transportation Systems and the delivery of goods, new technology approaches need to be developed in order to cope with certain challenges that last mile delivery entails, such as navigation in an urban environment. Autonomous delivery robots can help overcome these challenges. We propose a method for performing mixed reality (MR) simulation with ROS-based robots using Unity, which synchronizes the real and virtual environment, and simultaneously uses the sensor information of the real robots to locate themselves and project them into the virtual environment, so that they can use their virtual doppelganger to perceive the virtual world. Using this method, real and virtual robots can perceive each other and the environment in which the other party is located, thereby enabling the exchange of information between virtual and real objects. Through this approach a more realistic and reliable simulation can be obtained. Results of the demonstrated use-cases verified the feasibility and efficiency as well as the stability of implementing MR using Unity for Robot Operating System (ROS)-based robots. © 2020 IEEE.
Keywords: CONTRACTS
INTELLIGENT SYSTEMS
INTELLIGENT VEHICLE HIGHWAY SYSTEMS
MIXED REALITY
URBAN TRANSPORTATION
DELIVERY OF GOODS
EXCHANGE OF INFORMATION
INTELLIGENT TRANSPORTATION SYSTEMS
ROBOT OPERATING SYSTEMS (ROS)
SENSOR INFORMATIONS
URBAN ENVIRONMENTS
VIRTUAL ROBOTS
VIRTUAL WORLDS
ROBOTS
URI: http://hdl.handle.net/10995/103134
Access: info:eu-repo/semantics/openAccess
SCOPUS ID: 85099887317
PURE ID: 20887861
cc385680-e9d2-4d0e-9c4b-ae1e95d52710
DOI: 10.1109/IV47402.2020.9304701
metadata.dc.description.sponsorship: This work was supported by the Austrian Ministry for Climate Action, Environment, Energy, Mobility, Innovation and Technology (BMK) Endowed Professorship for Sustainable Transport Logistics 4.0.
Appears in Collections:Научные публикации, проиндексированные в SCOPUS и WoS CC

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