# Sitemap

A list of all the posts and pages found on the site. For you robots out there is an XML version available for digesting as well.

## Multi-Region Deployment with the AWS CDK ECS Construct

Published:

A tutorial on how to setup Fargate for multi-region deployments with latency based routing

## Setup ROS2 with CLion and Docker

Published:

A short tutorial on how to get your ROS environment setup without installing ROS on your system.

## rosbag2 QoS Overrides - Mike Ferguson Feature

Published:

I recently worked on adding a feature to rosbag2 which overrides topics’ QoS policies and prevents dropped messages. This was featured in Mike Ferguson’s blog “5 Things ROS2 Needs in 2020”!

## Robocup@Home 2017

Team Frasier in Robocup@Home - Nagoya, Japan

## Person following robot

Simple image-based PID control

## Robocup@Home 2018

Team Frasier in Robocup@Home - Montreal, Canada

## World Robot Summit 2018

Team Frasier in World Robot Summit - Tokyo, Japan

## Image-Based Visual Servoing (IBVS)

IBVS controller for high (6+) DOF manipulators

## System Architecture for Autonomous Mobile Manipulation of Everyday Objects in Domestic Environments

Published in PETRA: Proceedings of the 12th ACM International Conference on PErvasive Technologies Related to Assistive Environments, 2019

In this work, we focus on developing a complete system for autonomous mobile manipulation.

Recommended citation: Tarik Keleştemur, Naoki Yokoyama, Joanne Truong, Anas Abou Allaban, and Taşkin Padir. 2019. System architecture for autonomous mobile manipulation of everyday objects in domestic environments. In Proceedings of the 12th ACM International Conference on PErvasive Technologies Related to Assistive Environments (PETRA 19). Association for Computing Machinery, New York, NY, USA, 264–269. DOI:https://doi.org/10.1145/3316782.3316797 https://dl.acm.org/doi/abs/10.1145/3316782.3316797

## A Blended Human-Robot Shared Control Framework to Handle Drift and Latency

Published in IEEE Symposium on Safety, Security, and Rescue Robotics, 2019

Investigating a shared control framework for maximizing the utility of human-robot teams in disaster response and search and rescue missions.

Recommended citation: A. A. Allaban, V. Dimitrov and T. Padır, "A Blended Human-Robot Shared Control Framework to Handle Drift and Latency," 2019 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Würzburg, Germany, 2019, pp. 81-87, doi: 10.1109/SSRR.2019.8848977. https://ieeexplore.ieee.org/abstract/document/8848977

## A Systematic Review of Robotics Research in Support of In-Home Care for Older Adults

Published in MDPI Information, 2020

The aging population is growing at an unprecedented rate globally and robotics-enabled solutions are being developed to provide better independent living for older adults. In this study, we report the results from a systematic review of the state-of-the-art in home robotics research for caring for older adults.

Recommended citation: Abou Allaban, A.; Wang, M.; Padır, T. A Systematic Review of Robotics Research in Support of In-Home Care for Older Adults. Information 2020, 11, 75. https://www.mdpi.com/2078-2489/11/2/75

## Developing Production-Grade Applications with ROS 2

Published in Robot Operating System (ROS) The Complete Reference, 2021

A recurring concern for robotics application is how to scale from being a research product, into a production system. Developers need to compile their software for the chosen embedded platform, write tests for their code, and build infrastructure to support engineering best practices, such as Continuous Integration, and Delivery (CI/CD). This chapter introduces the reader to ROS packages, and tools which can be leveraged to build solid, commercial-grade, systems based on ROS 2.

Recommended citation: A. A. Allaban, D. Bonnie, E. Knapp, P. Gokhale and T. Moulard, "Developing Production-Grade Applications with ROS 2" to appear in Robot Operating System (ROS) The Complete Reference, 1st ed., Vol. 6, A. Koubaa, Ed., Switzerland: Springer International Publishing AG 2021

## iRobot: ROS 101 Workshop

Published:

I gave a workshop at the iRobot HQ on the basics of ROS. The goal was to orient engineers how to use ROS to work with the Roomba using it’s serial port for prototyping projects.

## Arcelik: ROS 101 Workshop

Published:

I gave a workshop at the Arcelik R&D HQ on the basics of ROS. The goal was to introduce engineers to the usage of ROS communication protocols on embedded systems and MCUs using rosserial.

## IEEE RAS: ROS 101 Workshop

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I gave an introductory workshop on ROS hosted by IEEE RAS. The workshop went over the basic concepts of robotics and what a robot is. We covered the different components of ROS including:

## ME 5250 - Matlab Robotics Toolbox

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ME 5250: Robot Mechanics and Control is a graduate level course on the kinematics, dynamics, control, and programming of robot manipulators. Early on in the course, I gave a workshop on how to model simple 6-DOF manipulators in Matlab using the Robotics Toolbox. We covered the following topics:

## IEEE RAS: ROS 201 Workshop

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I gave an an intermediate workshop on ROS hosted by IEEE RAS. We covered more advanced topics related to ROS like launch files and dynamic parameter configuration. We demonstrated how to control a robot arm using ROS actions and tune control parameters using dynamic configuration.

## PyData Khobar - ML for Quran Recitation

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I gave a virtual talk on the end-to-end machine learning problem for automatic speech recognition. Specifically, I went over what we did at Tarteel as we navigated the entire ML pipeline, tackling a novel problem and constructing an entirely new dataset.

## Gradio Applied ML Group - Intro to RL

Published:

I gave a virtual talk at Gradio.app on the basics of RL, using OpenAI’s recent paper “Learning Dextrous In-Hand Manipulation” with Dactyl as an example RL application.

## EECE 5550 - Mobile Robotics TA

Course, Northeastern University, Dept. of Electrical & Computer Engineering, 2019

I was the TA for EECE 5550 - Mobile Robotics Spring of 2019, which was taught by Prof. Taskin Padir.