The following features are bundled with the following features.

Please refer to the respective features' page for additional details, images and information by referring to the menu on the left or by clicking the hyperlinks below.

• Dashboard

• Teleoperation

• Single Event Tasks

• Stations

• Localiser

• Mapping

• Multi-floor Navigation (MFN) (coming soon)

• Multi-storey Navigation (MSN)(coming soon)

• Task Manager (Tasklist and Scheduler)

The dashboard is the first page that you see after logging in. After mapping, saving and loading a map, it will be visualised here;

Speed controls, analog/keyboard control and toggle, and mode-dependent buttons will be displayed in this panel. This panel can be toggled to be hidden or shown too.

There are only two types of tasks in Seirios RNS;

• Trail : where robot will follow the generated lines closely (will not deviate outside). When faced with obstacles, robot will stop until obstacles are removed.

• Waypoints: where robot will not follow the lines and obstacles will be dynamically avoided (unless setting is toggled to stop-at-obstacle)

Trails

Teleop Trail

In this mode, users are required to Mark each point and a line will be generated between points.

Mark Trail

Similar to Teleop Trail, instead of moving the robot to mark, use the on-screen marker to drop points. Lines will be generated automatically.

Zone

The Zone feature can automatically generate points (trail style) in a specified area.

The generated zone will look like this, where points will be generated close to each other;

Waypoints

Waypoints are similar to Mark Trail where the only difference is that the robot does not follow the generated line closely. Obstacles will be avoided as the robot navigates in its environment.

Under this category, users can manually drive their robots

1. Drive - to manually drive the robot with the onboard controls (keyboard or analog)

Granular controls are automatically applied; similar to a car's gas pedal/accelerator, users can granularly control the speed based on the set (0.1 - 0.9 m/s) limit with the joystick.

For omnidirectional robots, steering can be controlled with Shift keys as shown below. The keys will move the robot on the X axis/plane (sideways)

From the mode switcher, select the Localise button and click Start

Once the laser scan is aligned properly, click save to localise

Seirios RNS supports multiple mapping algorithms. Jump to the algorithm of interest here on the right panel (desktop view only) ➡️

2D Mapping

The most commonly used mapping algorithm, the cameras mounted on robots populate and generate a map of its surroundings

Users can manually teleoperate the robot, to 'reveal' the map represented by white areas in the map

Auto Mapping 🚩

Incorporating this feature into Seirios allows users to automatically map large areas without manually driving with virtual controls. The auto-mapping feature was originally developed for a wall-scanning construction project

Automatic mapping without manual controls from users

3D Mapping 🚩

For higher accuracy, range and better visual representation of environmental features, users can opt to map in 3D. A 2D map will be generated from a 3D map too

RTAB-MAP 🚩

RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D, Stereo and Lidar Graph-Based SLAM approach based on an incremental appearance-based loop closure detector.

As its namesake, it uses real time images to map the environment

ORB-SLAM Camera Based Mapping 🚩

ORB-SLAM is a keyframe and feature-based Monocular SLAM. It operates in real-time in large environments, being able to close loops and perform camera relocalisation from very different viewpoints.

Seirios is able to support mapping with the use of monocular, stereo, and RGB-D cameras. Green 'dots' are features recognised and stored in the map data, generating a 2D map

Users can create one or more (no limit) stations for a specific map to dock to - for charging or for other tasks (such as picking of objects with a robotic arm payload)

Creating stations

Users are required to drive the robot manually in the map (in the interest of accuracy and precision) and upon reaching the point of interest, capture the pose and store it as a station

Queueing saved stations

After station(s) are created, queue them together with other tasks to build an autonomous robotic process in your environment.

Besides charging, stations can be used to mark points of interest so robot(s) can dock to, with precision

From the top left corner, click the hamburger menu button to expand the options and click on Task Manager. You will be presented with two options, Tasklist and Scheduler.

These two options share many similarities but Scheduler introduces the element of time on top of queued tasks.

Queueing Tasks

From here, select Tasks (Path, Goal, Zone, Station, Custom or Delay) to create a list of tasks that can be run with a single click.

After saving the list, your tasks can be previewed as shown below

From here, run your Tasks now by clicking 'Run Now' or put this Tasklist into the queue with 'Add to Queue' at the bottom of the screen

Scheduling Tasks

To schedule these tasks to run at a later date/time, edit the task (by clicking the pencil icon) and input the date and time details

You can also save these scheduled tasklists as Active or Inactive

State Machines

Seirios supports integration with state machines. Flexbe is tried and tested to be compatible with Seirios and it includes an editor with which you can create your own conditions;