Mobile Robot Programming Toolkit Explained

Mobile Robot Programming Toolkit (MRPT)
Screenshot Size:	150px
Developer:	José Luis Blanco Claraco, contributors
Latest Release Version:	2.11.5
Latest Release Date:	^[1]

The Mobile Robot Programming Toolkit (MRPT) is a cross-platform and open source C++ library aimed to help robotics researchers to design and implement algorithms related to Simultaneous Localization and Mapping (SLAM), computer vision and motion planning (obstacle avoidance). Different research groups have employed MRPT to implement projects reported in some of the major robotics journals and conferences.^{[2] [3] [4] [5] [6]}

MRPT is open source and distributed under the New BSD License. Versions prior to 1.0.0 were released under the GPL.

Some features included in the project as user-applications:

• Visualization and manipulation of large datasets.
• SLAM algorithms: incremental mapping with ICP, Extended Kalman filtering, Rao-Blackwellized particle filters and GraphSLAM.
• Grabbing datasets from robotic sensors.

Upon a selection of the individual libraries provided by MRPT,^[7] users can develop new applications.

MRPT participated in Google Summer of Code in 2016–2018.^{[8] [9]}

Representation of metric maps

Through polymorphism in the design of metric-map classes, observations (such as a laser scans) can be inserted into a grid-map or a map of points, or both simultaneously, transparently to the user.

The following representations of metric maps are implemented:

• Occupancy grid maps.
• Point maps.
• Landmark maps: discrete elements are 3D points sensed through range and bearing. For example, visual landmarks.
• Beacon maps: elements are also 3D points, but sensed by means of range-only devices.
• Coloured point maps.
• Gas concentration maps.
• A "multi map", collections of any of the other maps, behaving as a single map.

See also

• Webots - A Professional Mobile Robot Simulator (Commercial)
• Microsoft Robotics Studio
• Player Project
• Robot software
• Arduino

Notes and References

1. Web site: Releases · MRPT/mrpt . github.com . 2024-01-13 .
2. 10.1.1.127.3097 . Consistent observation grouping for generating metric-topological maps that improves robot localization . J.L. Blanco . J. Gonzalez . J. and J.A. Fernández-Madrigal . 2006 . IEEE International Conference on Robotics and Automation (ICRA) . 818–823. 10.1109/ROBOT.2006.1641810.
3. Survey of popular robotics simulators, frameworks, and toolkits . A. Harris . J.M. Conrad . March 2011 . Proceedings of IEEE Southeastcon . 243–249 . 10.1109/SECON.2011.5752942.
4. Ryde . J. . Hu . H. . 2010 . 3D mapping with multi-resolution occupied voxel lists . Autonomous Robots . 28 . 2 . 169–185 . Springer . 10.1007/s10514-009-9158-3 . 10.1.1.153.5916 . 6659876 .
5. Developing an integrated software environment for mobile robot navigation and control . Tuza, Z. and Rudan, J. and Szederkényi, G . 10.1109/IPIN.2010.5647506. Oct 2010 . International Conference on Indoor Positioning and Indoor Navigation . 1–6.
6. http://www.mrpt.org/Papers A list of scientific papers
7. Web site: MRPT.ORG . List of MRPT libraries . 2013-10-08 . 2014-04-19.
8. Web site: GSOC . MRPT page in GSOC 2016 . 2018-08-07 . 2018-08-07 . 2020-10-26 . https://web.archive.org/web/20201026071254/https://summerofcode.withgoogle.com/archive/2016/organizations/5644101080842240/ . dead .
9. Web site: GSOC . MRPT page in GSOC 2017. 2018-08-07 . 2018-08-07.