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The acquisition and processing of a video stream can be very computationally expensive. Typical image processing applications split the work across multiple threads, one acquiring the images, and another one running the actual algorithms. In MATLAB we can get multi-threading by interfacing with other languages, but there is a significant cost associated with exchanging data across the resulting l…
MATLAB© is a programming language and environment designed for scientific computing. It is one of the best languages for developing robot control algorithms and is widely used in the research community. While it is often thought of as an offline programming language, there are several ways to interface with it to control robotic hardware 'in the loop'. As part of our own development we surve…
Ethernet is the most pervasive communication standard in the world. However, it is often dismissed for robotics applications because of its presumed non-deterministic behavior. In this article, we show that in practice Ethernet can be made to be extremely deterministic and provide a flexible and reliable solution for robot communication. The network topologies and traffic patterns used to control…
This is the first in a series of blog posts where I will try to share some of my own impressions and findings that have stemmed from several years of creating tools for robotics research. Latency is an important practical concern in the robotics world that is often poorly understood. I feel that a better understanding of latency can help robotics researchers and engineers make design and architec…
