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Safe human-robot interaction in logistic applications for highly flexible warehouses

Deliverables

System Integration Test Report

Reports of system integration test results.

Events, Seminars and Conferences

- Organization of 3-6 seminars, presentations and/or special sessions at conferences. - Attendance and presentation at 10 public events. A report about all the events including the results achieved.

Data management plan (DMP)

The Data Management Plan (DMP) will list relevant data that accumulates during the project and will define how we handle that data properly. It will be generated in dependence on the document „Guidelines on Data Management in Horizon 2020“.

Planning task specification

This deliverable will describe definition of the path planning task and specification of interfaces to all other components of the warehouse as specified in WPT-3.

Scenario and Use-Case Definition

This deliverable will describe the end-user scenarios and use-cases.

System Integration Test Plan

Summary of system integration test requirements.

Guidelines for Personal Safety in Flexible Automated Warehouses

Selection of norms and European directives for development of systems for ensuring safety of personnel in flexible automated warehouses with AGVs.

Dissemination Report I

The Dissemination report will contain an overview containing all activities related to the publication and communication to relevant bodies of interest concerning SafeLog topics.

System Integration Test Cases

Detailed definition of system integration test cases.

Dissemination Report II

An updated version of the Dissemination report will be created at the end of the project, giving a management-based overview over the project’s dissemination activities.

Technical Coordination Action Report

Final report about the technical coordination work.

System Evaluation Scenarios

Report of system evaluation results for different scenarios.

System Evaluation Report

Final summary report and conclusion of system evaluation results from different scenarios.

Final demonstrator of 2D/3D-GUI interaction concepts

This demonatrator will show the final version of the named interaction concepts in D-4.3.1-Concepts of intuitive 2D/3D interaction with the system [M21]

Implementation of the human intention recognition system

Implementation of simple gesture control, leaving intention recognition and path decision recognition.

Human-aware planning

This demostrator will present functionality and key properties of the human-aware planning algorithm developed in WPT-3.4.

Final demonstrator of AR based interaction concepts

This demonatrator will show the final version of the named AR based interaction concepts in D-4.4.2-Protoype demonstrator of AR based interaction concepts [M30].

Prototype demonstrator of 2D/3D-GUI interaction concepts

This demonatrator will show first prototype of the named interaction concepts in D-4.3.1-Concepts of intuitive 2D/3D interaction with the system [M21].

Multi-objective multi-constrained large-scale planning

This demostrator will present functionality and key properties of the multi-objective multi-constrined large-scale planning algorithms developed within WPT-3.2.

Prototype demonstrator of AR based interaction concepts

This demonatrator will show first prototype of the named AR based interaction concepts in D-4.4.1-Concepts of AR based interaction with the system [M21]

A simulation-based test environment for a heterogeneous warehouse system - version 1

This demonstrator will show a first prototype of the simulation-based test environment for a heterogeneous warehouse system. This first prototype will be used for further development.

Web Site

The SafeLog web portal will be used as dissemination platform. It will provide information about the project (short description of the objectives and concepts).

Promotional Material

To spread information: - A foldable brochure and a flyer outlining the project, its anticipated benefits and the target audiences will be created - Posters presenting the project and its scope - Further documents and material

Updated Data Management Plan

Project Data Management Plan (D7.2) reviewed and updated

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Publications

Practical Aspects of Autonomous Exploration with a Kinect2 sensor

Author(s): Kulich, Miroslav; Lhotský, Vojtěch; Přeučil, Libor
Published in: 1, 2017
Publisher: Kulich, Miroslav; Lhotský, Vojtěch; Přeučil, Libor
DOI: 10.5281/zenodo.3953629

Practical Aspects of Autonomous Exploration with a Kinect2 sensor

Author(s): Miroslav Kulich, Vojtěch Lhotský, Libor Přeučil
Published in: The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) Workshop on State Estimation and Terrain Perception for All Terrain Mobile Robots, 2016
Publisher: The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) Workshop on State Estimation and Terrain Perception for All Terrain Mobile Robots

Speed-up of Self-Organizing Networks for Routing Problems in a Polygonal Domain

Author(s): Miroslav Kulich, Roman Sushkov, Libor Přeučil
Published in: The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 10th International Cognitive Robotics Workshop, 2016
Publisher: The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 10th International Cognitive Robotics Workshop

Real-time visual localisation in a tagged environment

Author(s): Jérémy Taquet, Gaël Écorchard and Libor Přeučil
Published in: 2016
Publisher: Student Conference on Planning in Artificial Intelligence and Robotics (PAIR 2016)
DOI: 10.5281/zenodo.3953899

Speed-up of Self-Organizing Networks for Routing Problems in a Polygonal Domain

Author(s): Kulich, Miroslav; Sushkov, Roman; Přeučil, Libor
Published in: 8, 2017
Publisher: Kulich, Miroslav; Sushkov, Roman; Přeučil, Libor
DOI: 10.5281/zenodo.3953624

Trust and Reputation in Heterogeneous Multi-Agent System for Production Processes Based on the Market Economy

Author(s): Jana Jost, Benedikt Mattig
Published in: 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 25, 2020, Page(s) 1321-1324, ISBN 978-1-7281-8956-7
Publisher: IEEE
DOI: 10.1109/etfa46521.2020.9212022

Wearable camera-based human absolute localization in large warehouses

Author(s): Gaël Écorchard, Karel Košnar, Libor Přeučil
Published in: Twelfth International Conference on Machine Vision (ICMV 2019), 2019, Page(s) 96, ISBN 9781510636446
Publisher: SPIE
DOI: 10.1117/12.2559424

A Flexible High and Low Level Multi Task Behavior Framework for Multi-agent Systems in Complex Environments

Author(s): Sebastian Hoose, Daniel Sendzik, Jana Jost, Thomas Kirks
Published in: 2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), 2020, Page(s) 68-72, ISBN 978-1-7281-9818-7
Publisher: IEEE
DOI: 10.1109/acirs49895.2020.9162626

Localization of Humans in Warehouse based on Rack Detection

Author(s): Karel Kosnar, Gael Ecorchard, Libor Preucil
Published in: 2019 European Conference on Mobile Robots (ECMR), 2019, Page(s) 1-6, ISBN 978-1-7281-3605-9
Publisher: IEEE
DOI: 10.1109/ecmr.2019.8870913

On the Application of Safe-Interval Path Planning to a Variant of the Pickup and Delivery Problem

Author(s): Konstantin Yakovlev, Anton Andreychuk, Tomáš Rybecký, Miroslav Kulich
Published in: Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics, 2020, Page(s) 521-528, ISBN 978-989-758-442-8
Publisher: SCITEPRESS - Science and Technology Publications
DOI: 10.5220/0009888905210528

Spatio-Semantic ConvNet-Based Visual Place Recognition

Author(s): Luis G. Camara, Libor Preucil
Published in: 2019 European Conference on Mobile Robots (ECMR), 2019, Page(s) 1-8, ISBN 978-1-7281-3605-9
Publisher: IEEE
DOI: 10.1109/ecmr.2019.8870948

Adapting the Human: Leveraging Wearable Technology in HRI

Author(s): David Puljiz, Björn Hein
Published in: Robot Metaphors Workshop, ICSR 2020, 2020
Publisher: Robot Metaphors Workshop proceedings

Interactive Learning Engineering Concepts in AutomationML

Author(s): Yingbing Hua, Björn Hein
Published in: 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2019
Publisher: IEEE
DOI: 10.1109/etfa.2019.8869182

Moving object tracking employing rigid body motion on matrix Lie groups

Author(s): Josip Ćesić, Ivan Marković, Ivan Petrović
Published in: Proceedings of the 19th International Conference on Information Fusion, 2016, Page(s) 2109-2115, ISBN 978-0-9964527-4-8
Publisher: International Society of Information Fusion

On wrapping the Kalman filter and estimating with the SO(2) group

Author(s): Ivan Marković, Josip Ćesić, Ivan Petrović
Published in: Proceedings of the 19th International Conference on Information Fusion, 2016, Page(s) 2245-2250, ISBN 978-0-9964527-4-8
Publisher: International Society of Information Fusion

Human Intention Recognition in Flexible Robotized Warehouses based on Markov Decision Processes

Author(s): Tomislav Petković, Ivan Marković, Ivan Petrović
Published in: ROBOT 2017: Third Iberian Robotics Conference, 2017
Publisher: Springer

Computationally efficient dense moving object detection based on reduced space disparity estimation

Author(s): Goran Popović, Antea Hadviger, Ivan Marković, Ivan Petrović
Published in: 12th IFAC Symposium on Robot Control (SYROCO2018), 2018
Publisher: International Federation of Automatic Control

EGO-MOTION SENSOR FOR UNMANNED AERIAL VEHICLES BASED ON A SINGLE-BOARD COMPUTER

Author(s): GAËL ÉCORCHARD, ADAM HEINRICH, LIBOR PŘEUČIL
Published in: Human-Centric Robotics, 2017, Page(s) 189-196, ISBN 978-981-323-104-7
Publisher: WORLD SCIENTIFIC
DOI: 10.1142/9789813231047_0025

Context-Aware Route Planning for Automated Warehouses

Author(s): Jakub Hvezda, Tomas Rybecky, Miroslav Kulich, Libor Preucil
Published in: 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018, Page(s) 2955-2960, ISBN 978-1-7281-0323-5
Publisher: IEEE
DOI: 10.1109/itsc.2018.8569712

Improved Discrete RRT for Coordinated Multi-robot Planning

Author(s): Jakub Hvězda, Miroslav Kulich, Libor Přeučil
Published in: Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, 2018, Page(s) 171-179, ISBN 978-989-758-321-6
Publisher: SCITEPRESS - Science and Technology Publications
DOI: 10.5220/0006865901710179

Sequential path planning for a formation of mobile robots with split and merge

Author(s): M. Estefania Pereyra, R. Gaston Araguas, Miroslav Kulich
Published in: 2017 IEEE Latin American Conference on Computational Intelligence (LA-CCI), 2017, Page(s) 1-6, ISBN 978-1-5386-3734-0
Publisher: IEEE
DOI: 10.1109/la-cci.2017.8285722

On multi-robot search for a stationary object

Author(s): Miroslav Kulich, Libor Preucil, Juan Jose Miranda Bront
Published in: 2017 European Conference on Mobile Robots (ECMR), 2017, Page(s) 1-6, ISBN 978-1-5386-1096-1
Publisher: IEEE
DOI: 10.1109/ecmr.2017.8098696

Concept Learning in AutomationML with Formal Semantics and Inductive Logic Programming

Author(s): Yingbing Hua, Bjorn Hein
Published in: 2018 IEEE 14th International Conference on Automation Science and Engineering (CASE), 2018, Page(s) 1542-1547, ISBN 978-1-5386-3593-3
Publisher: IEEE
DOI: 10.1109/coase.2018.8560541

Concept Learning in Engineering based on Refinement Operator

Author(s): Yingbing Hua, Björn Hein
Published in: Up-and-Coming and Short Papers of the 28th International Conference on Inductive Logic Programming (ILP 2018), 2018
Publisher: Fabrizio Riguzzi, Elena Bellodi, Riccardo Zese

Implementation of Augmented Reality in Autonomous Warehouses: Challenges and Opportunities

Author(s): David Puljiz, Gleb Gorbachev, Björn Hein
Published in: Workshop on Virtual, Augmented and Mixed Reality Human-Robot Interaction (VAM-HRI 2018), 2018
Publisher: VAM-HRI 2018 workshop Proceedings

Tracking, reconstruction and grasping of unknown rotationally symmetrical objects from a conveyor belt

Author(s): Denis Stogl, Daniel Zumkeller, Stefan Escaida Navarro, Alexander Heilig, Bjorn Hein
Published in: 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2017, Page(s) 1-8, ISBN 978-1-5090-6505-9
Publisher: IEEE
DOI: 10.1109/etfa.2017.8247651

Towards Complex Adaptive Control Systems for Human-Robot-Interaction in Intralogistics*

Author(s): Thomas Kirks, Jana Jost, Tim Uhlott, Matthias Jakobs
Published in: 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018, Page(s) 2968-2973, ISBN 978-1-7281-0323-5
Publisher: IEEE
DOI: 10.1109/itsc.2018.8569949

Safe Human-Robot-Interaction in Highly Flexible Warehouses using Augmented Reality and Heterogenous Fleet Management System

Author(s): Jana Jost, Thomas Kirks, Preity Gupta, Dennis Lunsch, Jonas Stenzel
Published in: 2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2018, Page(s) 256-260, ISBN 978-1-5386-5547-4
Publisher: IEEE
DOI: 10.1109/iisr.2018.8535808

Dense Disparity Estimation in Ego-motion Reduced Search Space

Author(s): Luka Fućek, Ivan Marković, Igor Cvišić, Ivan Petrović
Published in: IFAC World Congress, 2017
Publisher: International Federation of Automatic Control

Evaluation of the Application of Smart Glasses for Decentralized Control Systems in Logistics

Author(s): Thomas Kirks, Jana Jost, Tim Uhlott, Julian Püth, Matthias Jakobs
Published in: 2019 IEEE Intelligent Transportation Systems Conference (ITSC), 2019
Publisher: IEEE
DOI: 10.1109/itsc.2019.8917159

Concept and Implementation of an Adaptive Decentralized Control System for Human-Technology Interaction

Author(s): Thomas Kirks, Jana Jost, Tim Uhlott, Soren Kerner
Published in: 2019 IEEE 12th Conference on Service-Oriented Computing and Applications (SOCA), 2019, Page(s) 127-132, ISBN 978-1-7281-5411-4
Publisher: IEEE
DOI: 10.1109/soca.2019.00026

The Use of Blockchain Technology for Private Data Handling for Mobile Agents in Human-Technology Interaction

Author(s): Tim Uhlott, Thomas Kirks, Jana Jost
Published in: The 9th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and the 9th IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 2019
Publisher: IEEE

Human Intention Recognition for Human Aware Planning in Integrated Warehouse Systems

Author(s): Tomislav Petković, Jakub Hvezda, Tomas Rybecky, Ivan Markovic, Mirosla Kulich, Libor Preucil, Ivan Petrovic
Published in: 28th Mediterranean Conference on Control and Automation (MED 2020), 2020
Publisher: IEEE

Analysis of Safe Ultrawideband Human-Robot Communication in Automated Collaborative Warehouse

Author(s): Branimir Ivsic, Zvonimir Sipus, Juraj Bartolic, Josip Babic
Published in: 2020 14th European Conference on Antennas and Propagation (EuCAP), 2020, Page(s) 1-5, ISBN 978-88-31299-00-8
Publisher: IEEE
DOI: 10.23919/eucap48036.2020.9135568

Modelling of Ultrawideband Propagation Scenarios for Safe Human-Robot Interaction in Warehouse Environment

Author(s): Branimir Ivšić, Zvonimir Šipuš, Juraj Bartolić, Josip Babić
Published in: Conference Proceedings - 23rd International Conference on Applied Electromagnetics and Communications, 2019, Page(s) 66 - 71
Publisher: KoREMA

UWB Propagation Characteristics of Human-to-Robot Communication in Automated Collaborative Warehouse

Author(s): Branimir Ivšić, Juraj Bartolić, Zvonimir Šipuš, Josip Babić
Published in: Proceedings of 2020 IEEE International Symposium on Antennas and Propagation and North American Radio Science Meeting, 2020
Publisher: IEEE APS / URSI
DOI: 10.5281/zenodo.4382325

Referencing between a Head-Mounted Device and Robotic Manipulators

Author(s): Puljiz, David; Riesterer, Katharina S.; Hein, Björn; Kröger, Torsten
Published in: 2nd Virtual Augmented and Mixed Reality Human-robot Interaction Workshop, HRI 2019, 2, 2019
Publisher: 2nd Virtual Augmented and Mixed Reality Human-robot Interaction Workshop, HRI 2019

Sensorless Hand Guidance Using Microsoft Hololens

Author(s): David Puljiz, Erik Stohr, Katharina S. Riesterer, Bjorn Hein, Torsten Kroger
Published in: 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2019, Page(s) 632-633, ISBN 978-1-5386-8555-6
Publisher: IEEE
DOI: 10.1109/hri.2019.8673145

General Hand Guidance Framework using Microsoft HoloLens

Author(s): David Puljiz, Erik Stohr, Katharina S. Riesterer, Bjorn Hein, Torsten Kroger
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 5185-5190, ISBN 978-1-7281-4004-9
Publisher: IEEE
DOI: 10.1109/iros40897.2019.8967649

Interpreting OWL Complex Classes in AutomationML based on Bidirectional Translation

Author(s): Yingbing Hua, Bjorn Hein
Published in: 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2019, Page(s) 79-86, ISBN 978-1-7281-0303-7
Publisher: IEEE
DOI: 10.1109/ETFA.2019.8869456

A Novel Heterogeneous Multi-Agent System for Production Processes Based on the Market Economy

Author(s): Jana Jost, Benedikt Mattig, Tobias Schneider
Published in: 2020 15th International Conference on Computer Science & Education (ICCSE), 15, 2020, Page(s) 607-612, ISBN 978-1-7281-7267-5
Publisher: IEEE
DOI: 10.1109/iccse49874.2020.9201782

What the HoloLens Maps Is Your Workspace: Fast Mapping and Set-up of Robot Cells via Head Mounted Displays and Augmented Reality

Author(s): Puljiz, David; Krebs, Franziska; Bösing, Fabian; Hein, Björn
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
Publisher: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Push, Stop, and Replan: An Application of Pebble Motion on Graphs to Planning in Automated Warehouses

Author(s): Miroslav Kulich, Tomas Novak, Libor Preucil
Published in: 2019 IEEE Intelligent Transportation Systems Conference (ITSC), 2019, Page(s) 4456-4463, ISBN 978-1-5386-7024-8
Publisher: IEEE
DOI: 10.1109/itsc.2019.8916906

Rapid Restart Hill Climbing for Learning Description Logic Concepts

Author(s): Yingbing Hua, Björn Hein
Published in: International Conference on Inductive Logic Programming 2019, 2019
Publisher: Springer, Cham
DOI: 10.1007/978-3-030-49210-6_5

Concepts for End-to-end Augmented Reality based Human-Robot Interaction Systems

Author(s): Puljiz, David; Hein, Björn
Published in: Factories of the Future Workshop, IROS 2019, 1, 2019
Publisher: IROS 2019 proceedings

Visual Data Simulation for Deep Learning in Robot Manipulation Tasks

Author(s): Miroslav Surák, Karel Košnar, Miroslav Kulich, Viktor Kozák, Libor Přeučil
Published in: Modelling and Simulation for Autonomous Systems - 5th International Conference, MESAS 2018, Prague, Czech Republic, October 17–19, 2018, Revised Selected papers, 11472, 2019, Page(s) 402-411, ISBN 978-3-030-14983-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-14984-0_29

Modelling Proxemics for Human-Technology-Interaction in Decentralized Social-Robot-Systems

Author(s): Thomas Kirks, Jana Jost, Jan Finke, Sebastian Hoose
Published in: Intelligent Human Systems Integration 2020 - Proceedings of the 3rd International Conference on Intelligent Human Systems Integration (IHSI 2020): Integrating People and Intelligent Systems, February 19-21, 2020, Modena, Italy, 1131, 2020, Page(s) 153-158, ISBN 978-3-030-39511-7
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-39512-4_24

On Randomized Searching for Multi-robot Coordination

Author(s): Jakub Hvězda, Miroslav Kulich, Libor Přeučil
Published in: Informatics in Control, Automation and Robotics - 15th International Conference, ICINCO 2018, Porto, Portugal, July 29-31, 2018, Revised Selected Papers, 613, 2020, Page(s) 364-383, ISBN 978-3-030-31992-2
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-31993-9_18

Modelling, Simulation, and Planning for the MoleMOD System

Author(s): Michaela Brejchová, Miroslav Kulich, Jan Petrš, Libor Přeučil
Published in: Modelling and Simulation for Autonomous Systems - 5th International Conference, MESAS 2018, Prague, Czech Republic, October 17–19, 2018, Revised Selected papers, 11472, 2019, Page(s) 3-15, ISBN 978-3-030-14983-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-14984-0_1

Path Planning for a Formation of Mobile Robots with Split and Merge

Author(s): Estefanía Pereyra, Gastón Araguás, Miroslav Kulich
Published in: Modelling and Simulation for Autonomous Systems, 10756, 2018, Page(s) 59-71, ISBN 978-3-319-76071-1
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-76072-8_4

An Integrated Approach to Autonomous Environment Modeling

Author(s): Miroslav Kulich, Viktor Kozák, Libor Přeučil
Published in: Modelling and Simulation for Autonomous Systems, 10756, 2018, Page(s) 3-17, ISBN 978-3-319-76071-1
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-76072-8_1

An Integrated Approach to Goal Selection in MobileRobot Exploration

Author(s): Miroslav Kulich, Jiří Kubalík, Libor Přeučil
Published in: Sensors, 19/6, 2019, Page(s) 1400, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19061400

AQT—A Query Template for AutomationML

Author(s): Yingbing Hua, Björn Hein
Published in: IEEE Transactions on Industrial Informatics, vol. 17, 2020, ISSN 1551-3203
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tii.2020.2989125

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

Author(s): Tomislav Petković, David Puljiz, Ivan Marković, Björn Hein
Published in: Robotics and Computer-Integrated Manufacturing, 57, 2019, Page(s) 182-196, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2018.11.004

Mixture Reduction on Matrix Lie Groups

Author(s): Josip Cesic, Ivan Markovic, Ivan Petrovic
Published in: IEEE Signal Processing Letters, 2017, Page(s) 1-1, ISSN 1070-9908
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/LSP.2017.2723765