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

Informazioni relative al progetto

SafeLog

ID dell’accordo di sovvenzione: 688117

DOI

10.3030/688117

Progetto chiuso

Data della firma CE 10 Novembre 2015

Data di avvio 1 Gennaio 2016

Data di completamento 31 Dicembre 2020

Finanziato da

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Costo totale

€ 4 618 462,50

Contributo UE

€ 4 618 462,50

Coordinato da

KARLSRUHER INSTITUT FUER TECHNOLOGIE
Germany

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

Documents, reports (13)

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.

Demonstrators, pilots, prototypes (7)

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]

Other (1)

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.

Websites, patent fillings, videos etc. (2)

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

Open Research Data Pilot (1)

Updated Data Management Plan

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

Pubblicazioni

Other (3)

Practical Aspects of Autonomous Exploration with a Kinect2 sensor

Autori: Kulich, Miroslav; Lhotský, Vojtěch; Přeučil, Libor
Pubblicato in: Numero 1, 2017
Editore: Kulich, Miroslav; Lhotský, Vojtěch; Přeučil, Libor
DOI: 10.5281/zenodo.3953629

Real-time visual localisation in a tagged environment

Autori: Jérémy Taquet, Gaël Écorchard and Libor Přeučil
Pubblicato in: 2016
Editore: 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

Autori: Kulich, Miroslav; Sushkov, Roman; Přeučil, Libor
Pubblicato in: Numero 8, 2017
Editore: Kulich, Miroslav; Sushkov, Roman; Přeučil, Libor
DOI: 10.5281/zenodo.3953624

Conference proceedings (40)

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), Numero 25, 2020, Pagina/e 1321-1324, ISBN 978-1-7281-8956-7
Editore: IEEE
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, Pagina/e 96, ISBN 9781510636446
Editore: SPIE
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, Pagina/e 68-72, ISBN 978-1-7281-9818-7
Editore: IEEE
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, Pagina/e 1-6, ISBN 978-1-7281-3605-9
Editore: IEEE
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, Pagina/e 521-528, ISBN 978-989-758-442-8
Editore: SCITEPRESS - Science and Technology Publications
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, Pagina/e 1-8, ISBN 978-1-7281-3605-9
Editore: IEEE
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
Editore: Robot Metaphors Workshop proceedings

Interactive Learning Engineering Concepts in AutomationML

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

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, Pagina/e 2109-2115, ISBN 978-0-9964527-4-8
Editore: International Society of Information Fusion

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, Pagina/e 2245-2250, ISBN 978-0-9964527-4-8
Editore: International Society of Information Fusion

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
Editore: Springer

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
Editore: International Federation of Automatic Control

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, Pagina/e 189-196, ISBN 978-981-323-104-7
Editore: WORLD SCIENTIFIC
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, Pagina/e 2955-2960, ISBN 978-1-7281-0323-5
Editore: IEEE
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, Pagina/e 171-179, ISBN 978-989-758-321-6
Editore: SCITEPRESS - Science and Technology Publications
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, Pagina/e 1-6, ISBN 978-1-5386-3734-0
Editore: IEEE
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, Pagina/e 1-6, ISBN 978-1-5386-1096-1
Editore: IEEE
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, Pagina/e 1542-1547, ISBN 978-1-5386-3593-3
Editore: IEEE
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
Editore: Fabrizio Riguzzi, Elena Bellodi, Riccardo Zese

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
Editore: VAM-HRI 2018 workshop Proceedings
DOI: 10.5281/zenodo.4443672

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, Pagina/e 1-8, ISBN 978-1-5090-6505-9
Editore: IEEE
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, Pagina/e 2968-2973, ISBN 978-1-7281-0323-5
Editore: IEEE
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, Pagina/e 256-260, ISBN 978-1-5386-5547-4
Editore: IEEE
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
Editore: International Federation of Automatic Control

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
Editore: IEEE
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, Pagina/e 127-132, ISBN 978-1-7281-5411-4
Editore: IEEE
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
Editore: IEEE

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
Editore: IEEE

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, Pagina/e 1-5, ISBN 978-88-31299-00-8
Editore: IEEE
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 ICECOM 2019 - 23rd International Conference on Applied Electromagnetics and Communications, 2019, Pagina/e 66 - 71
Editore: KoREMA
DOI: 10.5281/zenodo.4382180

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
Editore: IEEE APS / URSI
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, Numero 2, 2019
Editore: 2nd Virtual Augmented and Mixed Reality Human-robot Interaction Workshop, HRI 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, Pagina/e 632-633, ISBN 978-1-5386-8555-6
Editore: IEEE
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, Pagina/e 5185-5190, ISBN 978-1-7281-4004-9
Editore: IEEE
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, Pagina/e 79-86, ISBN 978-1-7281-0303-7
Editore: IEEE
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), Numero 15, 2020, Pagina/e 607-612, ISBN 978-1-7281-7267-5
Editore: 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

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

Autori: Miroslav Kulich, Tomas Novak, Libor Preucil
Pubblicato in: 2019 IEEE Intelligent Transportation Systems Conference (ITSC), 2019, Pagina/e 4456-4463, ISBN 978-1-5386-7024-8
Editore: IEEE
DOI: 10.1109/itsc.2019.8916906

Rapid Restart Hill Climbing for Learning Description Logic Concepts

Autori: Yingbing Hua, Björn Hein
Pubblicato in: International Conference on Inductive Logic Programming 2019, 2019
Editore: Springer, Cham
DOI: 10.1007/978-3-030-49210-6_5

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, Numero 1, 2019
Editore: IROS 2019 proceedings

Book chapters (6)

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, Numero 11472, 2019, Pagina/e 402-411, ISBN 978-3-030-14983-3
Editore: Springer International Publishing
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, Numero 1131, 2020, Pagina/e 153-158, ISBN 978-3-030-39511-7
Editore: Springer International Publishing
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, Numero 613, 2020, Pagina/e 364-383, ISBN 978-3-030-31992-2
Editore: Springer International Publishing
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, Numero 11472, 2019, Pagina/e 3-15, ISBN 978-3-030-14983-3
Editore: Springer International Publishing
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, Numero 10756, 2018, Pagina/e 59-71, ISBN 978-3-319-76071-1
Editore: Springer International Publishing
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, Numero 10756, 2018, Pagina/e 3-17, ISBN 978-3-319-76071-1
Editore: Springer International Publishing
DOI: 10.1007/978-3-319-76072-8_1

Peer reviewed articles (4)

An Integrated Approach to Goal Selection in MobileRobot Exploration

Autori: Miroslav Kulich, Jiří Kubalík, Libor Přeučil
Pubblicato in: Sensors, Numero 19/6, 2019, Pagina/e 1400, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19061400

AQT—A Query Template for AutomationML

Autori: Yingbing Hua, Björn Hein
Pubblicato in: IEEE Transactions on Industrial Informatics, Numero vol. 17, 2020, ISSN 1551-3203
Editore: 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

Autori: Tomislav Petković, David Puljiz, Ivan Marković, Björn Hein
Pubblicato in: Robotics and Computer-Integrated Manufacturing, Numero 57, 2019, Pagina/e 182-196, ISSN 0736-5845
Editore: Pergamon Press Ltd.
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, Pagina/e 1-1, ISSN 1070-9908
Editore: Institute of Electrical and Electronics Engineers
DOI: 10.1109/LSP.2017.2723765