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Article Summary
We provide an open-source add-on that allows for testing computationally intensive algorithms on external platforms while maintaining the robot’s autonomy and mobility. This platform exists in the form of a backpack, which can be 3D printed and replicated, and uses the ODROID XU4 board to process ROS compatible external algorithms. We also provide a software bridge that allows access to the robot’s sensors in near real-time. We have tested this platform in several robotic applications, including data logging, visual SLAM, and robot vision using deep learning techniques. The CAD model, hardware specifications, and software are available online for community use.
Main Framework and Experimental Results
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