Supported devices

The following tables list the hardware and software systems that are supported by Player.

These tables should generally be up to date with respect to the current code in CVS, and thus may be newer than the latest official release. Also check the Drivers list.

Please post additions and corrections to these tables to our developers' mailing list.

- Robots
- Miscellaneous hardware
- Miscellaneous software
- Algorithms
- Simulators

#### Robots

Manufacturer | Device(s) | Driver
Acroname | Garcia | garcia
Botrics | Obot d100 | obot
Evolution Robotics | ER1 and ERSDK robots | er1
iRobot | Roomba vaccuming robot | roomba
K-Team | Robotics Extension Board (REB) attached to Kameleon 376BC | reb
K-Team | Khephera | khepera
MobileRobots (formerly ActivMedia) | PSOS/P2OS/AROS-based robots (e.g., Pioneer, AmigoBot) and integrated accessories, including a CMUcam connected to the AUX port. | p2os
Nomadics | NOMAD200 (and possibly related) mobile robots | nomad
RWI/iRobot | RFLEX-based robots (e.g., B21r, ATRV Jr) and integrated accessories. | rflex
Segway | Robotic Mobility Platform (RMP), a custom-modified version of the Human Transport (HT) | segwayrmp
UPenn GRASP | Clodbuster | clodbuster
Videre Design | ERRATIC mobile robot platform | erratic
White Box Robotics | 914 PC-BOT | wbr914

#### Miscellaneous hardware

Manufacturer | Device(s) | Driver
Amtec | PowerCube pan-tilt unit | amtecpowercube driver_amtecM5
Ascension | Flock of Birds position tracker | flockofbirds
Canon | VC-C4 pan-tilt-zoom camera | canonvcc4
Crossbow | Mica2 / Mica2DOT mote sensor nodes | mica2
DirectedPerception | PTU-D46 pan-tilt unit | ptu46
Garmin | Geko 201 handheld GPS receiver (and most other NMEA-compliant GPS units) | garminnmea
Hokuyo | URG laser range finder | driver_urglaser
Inside Contactless | M300/R300 2G RFID reader (13.56MHz) | insideM300
InterSense | InertiaCube2 IMU | inertiacube2
MicroStrain | 3DM-G IMU | microstrain3dmg
Logitech | QuickCam Sphere pan-tilt-zoom camera | sphere
SICK | LMS 200 laser range-finder (and possibly other SICK lasers) | sicklms200, driver_sickpls, sicks3000, sicknav200
SkyeTek | M1/M1-mini RFID readers (13.56MHz) | skyetekM1
Sony | EVID30 and EVID100 pan-tilt-zoom cameras | sonyevid30
TeCo | Particle Router Core (XBridge) sensor node | rcore_xbridge
XSens | Mtx / Mti inertial measurement unit | xsensmt
Various (licensed by CMU) | CMUcam2 pan-tilt blob-tracking camera | cmucam2
Various | Generic Linux sound hardware. Performs Fast Fourier Transform on incoming audio data and emits various tones. | driver_acoustics
Various | Generic Linux sound hardware. Provides access to mixer controls (e.g., volume). | driver_mixer
Various | Generic Linux sound hardware. Provides the ability to transmit and receive raw audio signals. | driver_waveaudio
Various | Generic Linux wireless hardware. Provides access, via /proc, to info about the wireless hardware (e.g., signal quality). | linuxwifi
Various | Generic Linux wireless hardware. Provides access, via iwspy, to info about the wireless hardware (e.g., signal quality). | iwspy
Various | IEEE1394 (aka Firewire) cameras | camera1394
Various | Cameras supported by Video4Linux | camerav4l
Various | Generic Linux joystick. Allows access to axis and button state. | linuxjoystick

#### Miscellaneous software

Manufacturer | Device(s) | Driver
Jim Bruce | Color Machine Vision (CMVision) blob-tracking software | cmvision
MobileRobots (formerly ActivMedia); written by Paul Rybski | ActivMedia Color Tracking System (ACTS) blob-tracking software | acts
MIT / LIRA-Lab | YARP image capture | yarpimage
The Centre for Speech Technology Research, University of Edinburgh | Festival speech-synthesis software | festival
Speech at CMU | Sphinx2 speech-recognition software | sphinx2
Porchdog Software | Howl Zeroconf networking library | service_adv_mdns

#### Algorithms

Algorithm(s) | Description | References | Driver

Nearness Diagram (ND) Navigation

goal-seeking obstacle-avoidance, especially suited for non-holonomic, non-circular robots in tight spaces

Minguez & Montano (2004), Nearness Diagram Navigation (ND): Collision Avoidance in Troublesome Scenarios
Minguez, Osuna, & Montano (2004), A Divide and Conquer Strategy based on Situations to Achieve Reactive Collision Avoidance in Troublesome Scenarios.

nd

configuration space | Modulates raw laser data according to the robot's dimensions in order to represent the empty area in the robot's configuration space. |  | lasercspace
Vector Field Histogram (VFH+) | goal-seeking obstacle avoidance algorithm | Ulrich & Borenstein (1998), "VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots" | vfh
Adaptive Monte Carlo Localization (AMCL) | Performs probabilistic localization for a planar mobile robot equipped with a map and appropriate sensors | Fox (2001), KLD-Sampling: Adaptive Particle Filters | amcl
Wavefront propagation planner | Performs configuration-space path-planning for a planar robot via cell decomposition and wavefront propagation. | Latombe (1991), Robot Motion Planning | wavefront

#### Simulators

Manufacturer | Name | Description | Driver(s)
The Player/Stage/Gazebo project | Gazebo | A 3-dimensional multi-robot simulator | gazebo
The Player/Stage/Gazebo project | Stage | A 2-dimensional multi-robot simulator | stage

Last updated 12 September 2005 21:38:45