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

Risultati finali

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

Pubblicazioni

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

Autori: Jana Jost, Benedikt Mattig
Pubblicato in: 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Issue 25, 2020, Page(s) 1321-1324
DOI: 10.1109/etfa46521.2020.9212022

Wearable camera-based human absolute localization in large warehouses

Autori: Gaël Écorchard, Karel Košnar, Libor Přeučil
Pubblicato in: Twelfth International Conference on Machine Vision (ICMV 2019), 2019, Page(s) 96
DOI: 10.1117/12.2559424

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

Autori: Sebastian Hoose, Daniel Sendzik, Jana Jost, Thomas Kirks
Pubblicato in: 2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), 2020, Page(s) 68-72
DOI: 10.1109/acirs49895.2020.9162626

Localization of Humans in Warehouse based on Rack Detection

Autori: Karel Kosnar, Gael Ecorchard, Libor Preucil
Pubblicato in: 2019 European Conference on Mobile Robots (ECMR), 2019, Page(s) 1-6
DOI: 10.1109/ecmr.2019.8870913

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

Autori: Konstantin Yakovlev, Anton Andreychuk, Tomáš Rybecký, Miroslav Kulich
Pubblicato in: Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics, 2020, Page(s) 521-528
DOI: 10.5220/0009888905210528

Spatio-Semantic ConvNet-Based Visual Place Recognition

Autori: Luis G. Camara, Libor Preucil
Pubblicato in: 2019 European Conference on Mobile Robots (ECMR), 2019, Page(s) 1-8
DOI: 10.1109/ecmr.2019.8870948

Adapting the Human: Leveraging Wearable Technology in HRI

Autori: David Puljiz, Björn Hein
Pubblicato in: Robot Metaphors Workshop, ICSR 2020, 2020

Moving object tracking employing rigid body motion on matrix Lie groups

Autori: Josip Ćesić, Ivan Marković, Ivan Petrović
Pubblicato 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

Autori: Ivan Marković, Josip Ćesić, Ivan Petrović
Pubblicato 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

Autori: Tomislav Petković, Ivan Marković, Ivan Petrović
Pubblicato in: ROBOT 2017: Third Iberian Robotics Conference, 2017

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

Autori: Goran Popović, Antea Hadviger, Ivan Marković, Ivan Petrović
Pubblicato in: 12th IFAC Symposium on Robot Control (SYROCO2018), 2018

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

Autori: GAËL ÉCORCHARD, ADAM HEINRICH, LIBOR PŘEUČIL
Pubblicato in: Human-Centric Robotics, 2017, Page(s) 189-196
DOI: 10.1142/9789813231047_0025

Context-Aware Route Planning for Automated Warehouses

Autori: Jakub Hvezda, Tomas Rybecky, Miroslav Kulich, Libor Preucil
Pubblicato 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

Autori: Jakub Hvězda, Miroslav Kulich, Libor Přeučil
Pubblicato 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

Autori: M. Estefania Pereyra, R. Gaston Araguas, Miroslav Kulich
Pubblicato 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

Autori: Miroslav Kulich, Libor Preucil, Juan Jose Miranda Bront
Pubblicato 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

Autori: Yingbing Hua, Bjorn Hein
Pubblicato 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

Autori: Yingbing Hua, Björn Hein
Pubblicato in: Up-and-Coming and Short Papers of the 28th International Conference on Inductive Logic Programming (ILP 2018), 2018

Implementation of Augmented Reality in Autonomous Warehouses: Challenges and Opportunities

Autori: David Puljiz, Gleb Gorbachev, Björn Hein
Pubblicato 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

Autori: Denis Stogl, Daniel Zumkeller, Stefan Escaida Navarro, Alexander Heilig, Bjorn Hein
Pubblicato 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*

Autori: Thomas Kirks, Jana Jost, Tim Uhlott, Matthias Jakobs
Pubblicato 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

Autori: Jana Jost, Thomas Kirks, Preity Gupta, Dennis Lunsch, Jonas Stenzel
Pubblicato 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

Autori: Luka Fućek, Ivan Marković, Igor Cvišić, Ivan Petrović
Pubblicato in: IFAC World Congress, 2017

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

Autori: Thomas Kirks, Jana Jost, Tim Uhlott, Julian Püth, Matthias Jakobs
Pubblicato 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

Autori: Thomas Kirks, Jana Jost, Tim Uhlott, Soren Kerner
Pubblicato 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

Autori: Tim Uhlott, Thomas Kirks, Jana Jost
Pubblicato 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

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

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

Autori: Branimir Ivsic, Zvonimir Sipus, Juraj Bartolic, Josip Babic
Pubblicato in: 2020 14th European Conference on Antennas and Propagation (EuCAP), 2020, Page(s) 1-5
DOI: 10.23919/eucap48036.2020.9135568

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

Autori: Branimir Ivšić, Zvonimir Šipuš, Juraj Bartolić, Josip Babić
Pubblicato 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

Autori: Branimir Ivšić, Juraj Bartolić, Zvonimir Šipuš, Josip Babić
Pubblicato in: Proceedings of 2020 IEEE International Symposium on Antennas and Propagation and North American Radio Science Meeting, 2020
DOI: 10.5281/zenodo.4382325

Referencing between a Head-Mounted Device and Robotic Manipulators

Autori: Puljiz, David; Riesterer, Katharina S.; Hein, Björn; Kröger, Torsten
Pubblicato in: 2nd Virtual Augmented and Mixed Reality Human-robot Interaction Workshop, HRI 2019, Issue 2, 2019

Sensorless Hand Guidance Using Microsoft Hololens

Autori: David Puljiz, Erik Stohr, Katharina S. Riesterer, Bjorn Hein, Torsten Kroger
Pubblicato 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

Autori: David Puljiz, Erik Stohr, Katharina S. Riesterer, Bjorn Hein, Torsten Kroger
Pubblicato 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

Autori: Yingbing Hua, Bjorn Hein
Pubblicato in: 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2019, Page(s) 79-86
DOI: 10.1109/ETFA.2019.8869456

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

Autori: Jana Jost, Benedikt Mattig, Tobias Schneider
Pubblicato in: 2020 15th International Conference on Computer Science & Education (ICCSE), Issue 15, 2020, Page(s) 607-612
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

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

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

Autori: Miroslav Kulich, Tomas Novak, Libor Preucil
Pubblicato in: 2019 IEEE Intelligent Transportation Systems Conference (ITSC), 2019, Page(s) 4456-4463
DOI: 10.1109/itsc.2019.8916906

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

Autori: Puljiz, David; Hein, Björn
Pubblicato in: Factories of the Future Workshop, IROS 2019, Issue 1, 2019

Visual Data Simulation for Deep Learning in Robot Manipulation Tasks

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

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

Autori: Thomas Kirks, Jana Jost, Jan Finke, Sebastian Hoose
Pubblicato 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, Issue 1131, 2020, Page(s) 153-158
DOI: 10.1007/978-3-030-39512-4_24

On Randomized Searching for Multi-robot Coordination

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

Modelling, Simulation, and Planning for the MoleMOD System

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

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

Autori: Estefanía Pereyra, Gastón Araguás, Miroslav Kulich
Pubblicato 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

Autori: Miroslav Kulich, Viktor Kozák, Libor Přeučil
Pubblicato in: Modelling and Simulation for Autonomous Systems, Issue 10756, 2018, Page(s) 3-17
DOI: 10.1007/978-3-319-76072-8_1

An Integrated Approach to Goal Selection in MobileRobot Exploration

Autori: Miroslav Kulich, Jiří Kubalík, Libor Přeučil
Pubblicato in: Sensors, Issue 19/6, 2019, Page(s) 1400, ISSN 1424-8220
DOI: 10.3390/s19061400

AQT—A Query Template for AutomationML

Autori: Yingbing Hua, Björn Hein
Pubblicato in: IEEE Transactions on Industrial Informatics, Issue vol. 17, 2020, ISSN 1551-3203
DOI: 10.1109/tii.2020.2989125

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

Autori: Tomislav Petković, David Puljiz, Ivan Marković, Björn Hein
Pubblicato 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

Autori: Josip Cesic, Ivan Markovic, Ivan Petrovic
Pubblicato in: IEEE Signal Processing Letters, 2017, Page(s) 1-1, ISSN 1070-9908
DOI: 10.1109/LSP.2017.2723765

Practical Aspects of Autonomous Exploration with a Kinect2 sensor

Autori: Miroslav Kulich, Vojtěch Lhotský, Libor Přeučil
Pubblicato 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

Autori: Miroslav Kulich, Roman Sushkov, Libor Přeučil
Pubblicato 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

Autori: Jérémy Taquet, Gaël Écorchard and Libor Přeučil
Pubblicato in: 2016
DOI: 10.5281/zenodo.3953899

Set di dati

Benchmark maps and assignments for multi-agent path finding

Autori: Rybeck��, Tom����; Kulich, Miroslav
Pubblicato in: Zenodo

Fraunhofer IML dataset

Autori: Popovi��, Goran; Cvi��i��, Igor; ��corchard, Ga��l; Markovi��, Ivan; P��eu��il, Libor; Petrovi��, Ivan
Pubblicato in: Zenodo

Remcom Wireless InSite - Warehouse models and simulation configurations

Autori: Iv��i��, Branimir
Pubblicato in: Zenodo

Swisslog dataset

Autori: Popovi��, Goran; Cvi��i��, Igor; ��corchard, Ga��l; Markovi��, Ivan; P��eu��il, Libor; Petrovi��, Ivan
Pubblicato in: Zenodo

Zagreb dataset

Autori: Popovi��, Goran; Cvi��i��, Igor; ��corchard, Ga��l; Markovi��, Ivan; P��eu��il, Libor; Petrovi��, Ivan
Pubblicato in: Zenodo

Behaviour-based large-scale planning Fleet Management System Evaluation

Autori: Menebroeker, Fabian
Pubblicato in: Zenodo