A Leader-Follower Mobile Robot Scheme using an RGBD-Camera and MobileNets

⚡You can receive Pioneer-3AT dataset upon request at petropoulakispanagiotis[at]gmail.com

Requirements

• ROS distribution: melodic.
• Tools and libraries for a ROS Interface to the Kinect: iai_kinect2.
• Object Detection: tensorflow 1.15, CUDA 9.0 and TensorFlow Official Models 1.13.0.
• The required python packages can be found inside the BSc_thesis/code folder into the requirements2.txt and requirements3.txt files.
• ROS package to establish and manage the communication between the Desktop and the Follower's computer: multimaster_fkie.
• Simulation to tune the controller: summit_xl_sim.

⚡The code has been tested on Ubuntu 18.04.5 LTS in Python 2.7.17 and Python 3.6.9.

Citation

If you find my thesis useful in your research, please consider citing:

@thesis{Petropoulakis2020,
    author      = {Petropoulakis Panagiotis, Konstantinos J. Kyriakopoulos},
    title       = {A Leader-Follower Mobile Robot Scheme using an RGBD-Camera and MobileNets},
    type        = {bscthesis}
    url         = {https://github.com/PetropoulakisPanagiotis/BSc_thesis},
    institution = {Department of Informatics and Telecommunications of the University of Athens},
    year        = {2020},
}

Acknowledgements

Supervisor: Prof. Konstantinos J. Kyriakopoulos
Advisors: Dr. George Karras, Michalis Logothetis, PhD student Kostas Alevizos, PhD student Sotiris Aspragkathos