LiBot: Autonomous Library Robot

LiBot is an autonomous library robot designed to help libraries manage, organize, and inventory their shelves efficiently.
It’s built for the SICK LiDAR $10K Challenge — only "15 teams across the US and Canada to support innovation and student achievement in automation and technology". We were selected, and our team is proud to represent the University of Pennsylvania.
The project spans one year, focusing on leveraging a SICK 2D LiDAR (picoScan150) with complementary vision-based perception to achieve precise navigation, book interaction and autonomous library management.

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Overview

LiBot autonomously:

• Navigates narrow aisles using LiDAR-based SLAM and obstacle avoidance
• Scans and tracks books via onboard cameras and barcodes
• Organizes shelves by locating misplaced or missing books
• Extends its telescopic arm to pick & place target books

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Hardware & Control

Base

4-wheel differential drive (CMD velocity control)

/front_left_wheel/cmd_vel  | std_msgs/msg/Float64
/front_right_wheel/cmd_vel | std_msgs/msg/Float64
/back_left_wheel/cmd_vel   | std_msgs/msg/Float64
/back_right_wheel/cmd_vel  | std_msgs/msg/Float64

Telescopic Arm

• Revolute Joint: /arm_revolute/cmd_vel
• Vertical Prismatic Joint: /arm_vertical/cmd_vel
• Horizontal Prismatic Joint: /arm_horizontal/cmd_vel
• The vertical and horizontal links use mimic joints for synchronized extension.
• Simple inverse kinematics allows for target grasping based on shelf position.

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Usage

To launch in ROS 2:

ros2 launch libot_bringup libot_basic.launch.xml

Command wheel or arm joints with:

ros2 topic pub /front_left_wheel/cmd_vel std_msgs/msg/Float64 "{data: 0.1}"

Team

Developed at the University of Pennsylvania for the SICK LiDAR 10K Challenge.
Focus on LiDAR-driven autonomy and interaction, perception, and manipulation.