Alfred: Open-Source Autonomous Mobile Robot Platform with Augmented Physical Testbed

Abstract

This research study introduces Alfred, a novel open-source Autonomous Mobile Robot (AMR) platform and a physical testbed that enables the integration of virtual scenarios. This system allows for the development and evaluation of algorithms for localization, perception, and path planning in a safe and efficient manner. By combining virtual and physical elements, our camera-based localization testbed facilitates comprehensive testing of AMRs, ensuring their readiness for real-world deployment. The modular design of Alfred, with parts sourced within the Indian subcontinent, makes it a cost-effective and adaptable solution for robotics research and development. We demonstrate the effectiveness of our platform through experiments in localization, mapping, and navigation, showcasing its potential for advancing AMR technology.