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

Deliverables

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.

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]

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.

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

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Publications

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

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

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

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

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
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
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
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
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
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
DOI: 10.1109/coase.2018.8560541

Concept Learning in Engineering based on Refinement Operator

Author(s): Yingbing Hua, Björn Hein
Published in: ILP 2018, 2018

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

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
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
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
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

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
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
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

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

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

Author(s): Branimir Ivšić, Zvonimir Šipuš, Juraj Bartolić, Josip Babić
Published in: Proceedings of 14th European Conference on Antennas and Propagation (EuCAP 2020), 2020

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

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

Referencing between a Head-Mounted Device and Robotic Manipulators

Author(s): Puljiz, David; Riesterer, Katharina S.; Hein, Björn; Kröger, Torsten
Published in: 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
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
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
DOI: 10.1109/ETFA.2019.8869456

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, Issue 57, 2019, Page(s) 182-196, ISSN 0736-5845
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
DOI: 10.1109/LSP.2017.2723765

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, Issue 10756, 2018, Page(s) 59-71
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, Issue 10756, 2018, Page(s) 3-17
DOI: 10.1007/978-3-319-76072-8_1

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

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

Real-time visual localisation in a tagged environment

Author(s): Jérémy Taquet, Gaël Écorchard and Libor Přeučil
Published in: Student Conference on Planning in Artificial Intelligence and Robotics (PAIR 2016), 2016