MRT: Development of a multi-purpose debugger for MRT-based robots

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MRT: Development of a multi-purpose debugger for MRT-based robots
Coordinator: MarcelloRestelli (restelli@elet.polimi.it), AndreaBonarini (andrea.bonarini@polimi.it)
Tutor:
Collaborator: LuigiMalago (malago@elet.polimi.it)
Students: AndreaDiGiorgio (andrea.digiorgio@mail.polimi.it), GiovanniCondello (giovanni.condello@mail.polimi.it), NicolaCrovetti (rovetznicola@hotmail.it)
Research Area: Robotics
Research Topic: MRT
Start: 2008/10/01
End: 2008/06/15
Status: Closed
Level: Bs
Type: Thesis

Project short description

The goal of this project is to develop a multi-purpose highly customizable robotics team debugger, the "Monitor". The software should be able to track down all the messages normally exchanged between MRT-based robots as well as debug ones. Since the Tool's main goal is to provide a simple, yet powerful, GUI to the every MRT robot/module developer, everything should be implemented as much module/robot/purpose independent as possible.

Key features of the debugger are the following:

  • Modes: Real time, Replay, Record
  • Robot/Team 2D spatial position tracking
  • Robot orientation tracking
  • Perceptions debugging
  • Behaviours debugging
  • Customizable GUI
  • Easy extendibility

The project deadline, ideally, should be enough weeks before the 2009 Robocup competition in order to have a working debugger for the Robocup Team.

Laboratory work and risk analysis

Laboratory work for this project will be probably performed at both AIRLab/Lambrate and AIRLab/Bovisa. It will include significant amounts of testing on real robots. Potentially risky activities are the following:

  • Transportation of heavy loads (e.g. robots). Standard safety measures described in Safety norms will be followed.
  • Robot testing. Standard safety measures described in Safety norms will be followed.