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
| Manufacturer | Device(s) | Driver |
| Acroname | Garcia | |
| Botrics | Obot d100 | |
| e-puck | epuck | |
| Evolution Robotics | ER1 and ERSDK robots | |
| iRobot | Roomba vaccuming robot | |
| iRobot | Create research robot | |
| K-Team | Robotics Extension Board (REB) attached to Kameleon 376BC | |
| K-Team | Khephera | |
| K-Team | Hemisson | |
| LEGO | Mindstorms NXT | |
| Microsoft | Kinect | |
| MobileRobots (formerly ActivMedia) | PSOS/P2OS/AROS-based robots (e.g., Pioneer, AmigoBot) and integrated accessories, including a CMUcam connected to the AUX port. | |
| MoviRobotics | mBase robot platform | |
| Nomadics | NOMAD200 (and possibly related) mobile robots | |
| RWI/iRobot | RFLEX-based robots (e.g., B21r, ATRV Jr) and integrated accessories. | |
| Segway | Robotic Mobility Platform (RMP), a custom-modified version of the Human Transport (HT) | |
| UPenn GRASP | Clodbuster | |
| Videre Design | ERRATIC mobile robot platform | |
| White Box Robotics | 914 PC-BOT |
Miscellaneous hardware
| Manufacturer | Device(s) | Driver |
| Amtec | PowerCube pan-tilt unit | |
| Ascension | Flock of Birds position tracker | |
| Botrics | oBot | |
| Canon | VC-C4 pan-tilt-zoom camera | |
| Crossbow | Mica2 / Mica2DOT mote sensor nodes | |
| DirectedPerception | PTU-D46 pan-tilt unit | |
| Garmin | Geko 201 handheld GPS receiver (and most other NMEA-compliant GPS units) | |
| Hokuyo | URG laser range finder | driver_hokuyo_aist |
| Inside Contactless | M300/R300 2G RFID reader (13.56MHz) | |
| InterSense | InertiaCube2 IMU | |
| Logitech | QuickCam Sphere pan-tilt-zoom camera | |
| MicroStrain | 3DM-G IMU | |
| Phidgets | Phidgets InterfaceKit (IFK) | |
| Phidgets | Phidgets RFID reader | |
| Phidgets | Phidgets Accelerometer (ACC) | |
| SICK | LMS 200 laser range-finder (and possibly other SICK lasers) | |
| SkyeTek | M1/M1-mini RFID readers (13.56MHz) | |
| Sony | EVID30 and EVID100 pan-tilt-zoom cameras | |
| TeCo | Particle Router Core (XBridge) sensor node | |
| XSens | Mtx / Mti inertial measurement unit | |
| Various (licensed by CMU) | CMUcam2 pan-tilt blob-tracking camera | |
| Various | Generic Linux wireless hardware. Provides access, via /proc, to info about the wireless hardware (e.g., signal quality). | |
| Various | Generic Linux wireless hardware. Provides access, via iwspy, to info about the wireless hardware (e.g., signal quality). | |
| Various | IEEE1394 (aka Firewire) cameras | |
| Various | Cameras supported by Video4Linux | |
| Various | Cameras supported by Video4Linux2 | |
| Various | Cameras supported by OpenCV | |
| Various | Generic Linux joystick. Allows access to axis and button state. |
Miscellaneous software
| Manufacturer | Device(s) | Driver |
| Jim Bruce | Color Machine Vision (CMVision) blob-tracking software | |
| MobileRobots (formerly ActivMedia); written by Paul Rybski | ActivMedia Color Tracking System (ACTS) blob-tracking software | |
| MIT / LIRA-Lab | YARP image capture | |
| The Centre for Speech Technology Research, University of Edinburgh | Festival speech-synthesis software | |
| Speech at CMU | Sphinx2 speech-recognition software | |
| 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". | |
| Smooth Nearness Diagram (SND) Navigation | An improvement over the nd driver that removes oscillatory patterns and improves overall driver performance. | Durham & Bullo (2008), "Smooth Nearness-Diagram Navigation" | |
| 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. | ||
| LaserFeature | Uses an Extended Kalman Filter to extract lines and corners from a laser data scan | ||
| Vector Field Histogram (VFH+) | goal-seeking obstacle avoidance algorithm | Ulrich & Borenstein (1998), "VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots" | |
| 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 | |
| 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 project | Gazebo | A 3-dimensional multi-robot simulator | |
| The Player project | Stage | A 2-dimensional multi-robot simulator |
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