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teaching:gsoc2014 [2014/02/25 13:26] – created tenorthteaching:gsoc2014 [2014/02/25 13:29] – [Proposed Topics] tenorth
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 ====== Google Summer of Code 2014 ====== ====== Google Summer of Code 2014 ======
 +~~NOTOC~~
 Two software libraries that origin from our laboratory and that are now used Two software libraries that origin from our laboratory and that are now used
 and supported by a larger user community are the KnowRob system for robot  and supported by a larger user community are the KnowRob system for robot 
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 +===== Proposed Topics =====
 +
 +==== CRAM -- Virtual Robot Scenarios in Gazebo ====
 +**Main Objective:** The development of scenarios and tasks
 +for human-sized robots. This is done using ROS, the Gazebo robot
 +simulator, and CRAM. The scenarios to develop range from setups for
 +comparatively simple tasks, such as pick and place, to more sophisticated
 +workspaces requiring interaction with the environment, such as opening
 +and closing drawers and doors.
 +This involves designing virtual environments for Gazebo and/or writing robot plans in Lisp using the CRAM high-level language, sending commands to virtual PR2 or REEM(-C) robots in Gazebo, and manipulating the artificial environment in there. The connection to an elaborate high-level system holds a lot of interesting opportunities.
 +The produced code will, when working in a simulated environment, be run on the real robot in our laboratory and become part of the high-level behaviour library for the connected robots.
 +
 +**Task Difficulty:** The difficulty depends on the environment setup and task chosen. The design of pick and place scenarios in a simple environment work towards ensuring the system's robustness, while more elaborate interaction tasks require more situational intelligence in the robot plan.\\
 +**Requirements:** At least basic understanding in functional programming is advisable (ideally Lisp), basic knowledge in ROS helps, and ideally already having experience in simulation environments.\\
 +**Expected Results:** We expect operational and robust
 +contributions to the software library that can be used as part of a
 +robot's control program.}
  
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