Intra-Logistics with Integrated Automatic Deployment: safe and scalable fleets in shared spaces

Project Information

ILIAD

Grant agreement ID: 732737

DOI 10.3030/732737

Project closed

EC signature date 29 November 2016

Start date 1 January 2017

End date 30 June 2021

Funded under

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

Total cost € 6 987 715,36

EU contribution € 6 987 715,36

Coordinated by

OREBRO UNIVERSITY
Sweden

Deliverables

Documents, reports (14)

Perception system for detecting boxes and wrapping

This deliverable will report on the software and hardware implementation used for providing poses of the topmost boxes, a dense 3D map of the working area, and detecting whether or not a pallet has wrapping that needs to be removed before picking.

Implementation of unsupervised semantic mapping system

An implementation capable of automatically label shelves, non-traversable areas and suggested places for storing pallets, demonstrated using data from at least two warehouse sites

Report on Introspective Active Learning of Site-Specific Knowledge for Intra-Logistics

The deliverable will report on the framework developed for active long-term updating of site-specific knowledge, including scheduling of information-gathering actions to improve both map quality and knowledge of activity patterns, together with quantification of the quality of the predictions made and evaluation of performance during long-term operation in dynamic warehouse environments.

Report on Human-Robot Spatial Interaction and mutual communication of navigation intent

Reports the implementation of the framework, which utilises learned qualitative constraints, to facilitate more effective, legible, and acceptable navigation of the robots. This is completed by results from user studiesrealistic environments as an assessment of the effectiveness of the implementation incorporating findings and implementations of T3.4 and T3.5.

Distributed fleet coordination methods for industrial vehicles

Report on distributed coordination methods for fleets of industrial vehicles in structured environments. Coordination methods will include collision and obstacle avoidance and will take into account mission temporal and spatial constraints. Simulation results for the evaluation and test of the developed algorithms in realistic scenarios will be reported.

Planning algorithms for picking and palletising

Report on the developed planning algorithms for the three phases of unwrapping the pallet, of picking boxes and of palletising the chosen boxes in a second pallet.

System for automatic sensor calibration.

The deliverable will report on the methods used for automatic extrinsic and intrinsic sensor calibration, without pre-existing calibration patterns, as well as detecting inconsistent calibration parameters.

Report on Spatio-Temporal Representations for Long-Term Operations in Intra-Logistics

The deliverable will report on the spatio-temporal representations for learning and prediction across the ILIAD system, including long-term mapping and self-localisation and learning of activity patterns, together with metrics for assessing the precision and uncertainty of map quality, self-localisation and calibration quality during long-term operation.

Report on optimization strategies for task allocation and coordination

Report detailing the task allocation and coordination algorithms used/developed and their preliminary evaluation based on metrics that are relevant for intra-logistics applications.

Precise localisation and mapping in dynamic environments

The prototype implementation shall be capable of creating consistent 3D maps from heterogeneous data also when faced with gradually changing environments and perceptual aliasing. Under the same conditions the implementation shall also be capable of precise localisation (within the 3 cm required in industrial practice) and rapid convergence.

Final human detection and tracking system

This report will present the final human detection and tracking system with advanced detection, detector fusion and tracking abilities.

Report on human injury data for autonomous mobile systems

This report presents the injury safety database with noteworthy insights into human injury related to autonomous mobile systems. It will be accessible to the entire robotics community and in particular fed into the according ISO committees, and representing an exhaustive extension of the existing “Handbook of Injury in Robotics” covering manipulators.

Report on typical risks for human injury in the envisaged use cases

This report includes the risks for human injury in the identified typical use cases and scenarios with multiple autonomous mobile systems moving in in a dynamic environment with humans. It forms the base for a complete human injury analysis.

Final system for accurate AGV motion planning

In this report we will describe the final approach and system of the high-precision motion planner including the final integration approach with the qualitative planner of task T3.4.

Demonstrators, pilots, prototypes (3)

Second demonstration at OF or NCFM

The system can run in simulation and in a real environment, exhibiting the ability to self-deploy, pick and palletize goods, perform online integrated task allocation, motion planning and coordination, account for learned environment dynamics and human activity.

Final demonstration at NCFM

The system can run in simulation and in a real environment, and adheres to the requirements stipulated in WP7. This includes final versions of all system functionalities (self-deployment, long-term operation, human- awareness, fleet management, picking, palettizing and unwrapping).

First demonstration at ORU

The system can be run in simulation and, to a limited extent, account for real data, execute missions with real vehicles, and/or interact with physical objects (picking and palletizing).

Websites, patent fillings, videos etc. (2)

Public ILIAD website online and social media appearance initialised

Public ILIAD website online and social media appearance initialised.

ILIAD flyer

ILIAD flyer.

Other (1)

System architecture

Overall system architecture that will be used throughout the project. The implementation will include mock-up modules in lieu of functionalities still to be developed. The delivered document will detail the main guidelines on using the software architecture, on deployment of components, and on testing procedures, also using the simulation environment. This document will be mainly for internal use.

Publications

Conference proceedings (63)

“CFEAR Radarodometry - Conservative Filtering for Efficientand Accurate Radar Odometry”.

Author(s): Daniel Adolfsson, Martin Magnusson, Anas W. Alhashimi, Achim J. Lilienthal, and Henrik Andreasson.
Published in: 2021
Publisher: IROS

A Submap per Perspective - Selecting Subsets for SuPer Mapping that Afford Superior Localization Quality

Author(s): Daniel Adolfsson, Stephanie Lowry, Martin Magnusson, Achim Lilienthal, Henrik Andreasson
Published in: 2019 European Conference on Mobile Robots (ECMR), 2019, Page(s) 1-7, ISBN 978-1-7281-3605-9
Publisher: IEEE
DOI: 10.1109/ecmr.2019.8870941

A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities

Author(s): Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin
Published in: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021, Page(s) 316-320, ISBN 978-1-6654-3862-9
Publisher: IEEE
DOI: 10.1109/isr50024.2021.9419570

Involuntary Motion in Human-Robot Interaction: Effect of Interactive User Training on the Occurrence of Human Startle-Surprise Motion

Author(s): Robin Jeanne Kirschner, Lisa Burr, Melanie Porzenheim, Henning Mayer, Saeed Abdolshah, Sami Haddadin
Published in: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021, Page(s) 28-32, ISBN 978-1-6654-3862-9
Publisher: IEEE
DOI: 10.1109/isr50024.2021.9419526

“Functional mode switching for safe and efficienthuman-robot collaboration”.

Author(s): Mazin Hamad, Petr Svarny, Alexander Kurdas, Matej Hoffmann, Saeed Abdol-shah, and Sami Haddadin.
Published in: 2021
Publisher: IROS

Accurate detection and 3D localization of humans using a novel YOLO-based RGB-D fusion approach and synthetic training data

Author(s): Timm Linder, Kilian Y. Pfeiffer, Narunas Vaskevicius, Robert Schirmer, Kai O. Arras
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 1000-1006, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196899

Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066

Author(s): Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
Published in: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021, Page(s) 1-5, ISBN 978-1-6654-3862-9
Publisher: IEEE
DOI: 10.1109/isr50024.2021.9419494

CSM : Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems.

Author(s): Robin Jeanne Kirschner, João Jantalia, Nico Mansfeld, Saeed Abdolshah and Sami Haddadin.
Published in: Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Publisher: IEEE

Localising Faster: Efficient and precise lidar-based robot localisation in large-scale environments

Author(s): Li Sun, Daniel Adolfsson, Martin Magnusson, Henrik Andreasson, Ingmar Posner, Tom Duckett
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 4386-4392, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196708

Toward Distributed solutions for heterogeneous fleet coordination.

Author(s): Alessandro Palleschi, Anna Mannucci, Danilo Caporale, Federico Pecora, Lucia Pallottino.
Published in: 2020
Publisher: I-RIM

Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066

Author(s): Robin Jeanne Kirschner, Nico Mansfeld, Guillermo Gomez Pena, Saeed Abdolshah, Sami Haddadin
Published in: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021, Page(s) 6-9, ISBN 978-1-6654-3862-9
Publisher: IEEE
DOI: 10.1109/isr50024.2021.9419495

Combining Multi-Robot Motion Plan-ning and Goal Allocation using Roadmaps

Author(s): J. Salvado, M. Mansouri, and F. Pecor
Published in: 2021
Publisher: ICRA

Metric-Scale Truncation-Robust Heatmaps for 3D Human Pose Estimation

Author(s): Istvan Sarandi, Timm Linder, Kai O. Arras, Bastian Leibe
Published in: 2020 15th IEEE International Conference on Automatic Face and Gesture Recognition (FG 2020), 2020, Page(s) 407-414, ISBN 978-1-7281-3079-8
Publisher: IEEE
DOI: 10.1109/fg47880.2020.00108

“Towards a ReferenceFramework for Tactile Robot Performance and Safety Benchmarking”

Author(s): Robin Jeanne Kirschner, Kübra Karacan, Philipp Junge, Seyed Ali Baradaran Bir-jandi, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin.
Published in: 2021
Publisher: IEEE

“Mod-elling and Predicting Rhythmic Flow Patterns in Dynamic Environments”.

Author(s): Sergio Molina Mellado, Grzegorz Cielniak, Tomáš Krajník, and Tom Duckett.
Published in: TAROS., 2018
Publisher: University of Lincoln

A Framework for Multi-Robot Mo-tion Planning, Coordination and Control

Author(s): F Pecora, A Mannucci, and C S Swaminathan.
Published in: 2020
Publisher: Zenodo

Multi-Robot Planning Under Uncertain Travel Times and Safety Constraints

Author(s): Masoumeh Mansouri, Bruno Lacerda, Nick Hawes, Federico Pecora
Published in: Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence, 2019, Page(s) 478-484, ISBN 978-0-9992411-4-1
Publisher: International Joint Conferences on Artificial Intelligence Organization
DOI: 10.24963/ijcai.2019/68

“CorAl – Are the point clouds Correctly Aligned?”

Author(s): Daniel Adolfsson, Martin Magnusson, Qianfang Liao, Achim J. Lilienthal, and Hen-rik Andreasson.
Published in: 2021
Publisher: ECMR

The Role of Robot Payload in the Safety Map Framework

Author(s): Mazin Hamad, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Page(s) 195-200, ISBN 978-1-7281-4004-9
Publisher: IEEE
DOI: 10.1109/iros40897.2019.8968022

NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation

Author(s): Zhicheng Zhou, Cheng Zhao, Daniel Adolfsson, Songzhi Su, Yang Gao, Tom Duckett, Li Sun
Published in: 2021
Publisher: ICRA 2021

Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-RobotCollaboration”.

Author(s): Dinmukhamed Zardykhan, Petr Svarny, Erfan Shahriari, and Sami Haddadin.
Published in: 2019
Publisher: IEEE

A Network-Flow Reduction for the Multi-Robot Goal Allocation and Motion Planning Problem

Author(s): J. Salvado, M. Mansouri, and F. Pecora
Published in: 2021
Publisher: CASE

Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot Design

Author(s): Nico Mansfeld; Mazin Hamad; Marvin Becker; Antonio Gonzales Marin and Sami Haddadin
Published in: Issue 6, 2019
Publisher: IEEE

Noninteracting constrained motion planning and control for robot manipulators

Author(s): Manuel Bonilla, Lucia Pallottino, Antonio Bicchi
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 4038-4043, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989463

Grasp quality evaluation done right: How assumed contact force bounds affect Wrench-based quality metrics

Author(s): Robert Krug, Yasemin Bekiroglu, Maximo A. Roa
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 1595-1600, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989189

Semi-supervised 3D place categorisation by descriptor clustering

Author(s): Martin Magnusson, Tomasz Piotr Kucner, Saeed Gholami Shahbandi, Henrik Andreasson, Achim J. Lilienthal
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 620-625, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8202216

Semantic-assisted 3D normal distributions transform for scan registration in environments with limited structure

Author(s): Anestis Zaganidis, Martin Magnusson, Tom Duckett, Grzegorz Cielniak
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 4064-4069, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206262

Incorporating ego-motion uncertainty estimates in range data registration

Author(s): Henrik Andreasson, Daniel Adolfsson, Todor Stoyanov, Martin Magnusson, Achim J. Lilienthal
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 1389-1395, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8202318

Hybrid curvature steer: A novel extend function for sampling-based nonholonomic motion planning in tight environments

Author(s): Holger Banzhaf, Luigi Palmieri, Dennis Nienhuser, Thomas Schamm, Steffen Knoop, J. Marius Zollner
Published in: 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), 2017, Page(s) 1-8, ISBN 978-1-5386-1526-3
Publisher: IEEE
DOI: 10.1109/ITSC.2017.8317757

Predictive Planning for a Mobile Robot in Human Environments

Author(s): Andrey Rudenko, Luigi Palmieri, and Kai O. Arras
Published in: 2017 IEEE ICRA Workshop on AI Planning and Robotics: Challenges and Methods, 2017
Publisher: IEEE

Navigation Testing for Continuous Integration in Robotics

Author(s): Jaime Pulido Fentanes, Christian Dondrup, and Marc Hanheide
Published in: 2017 RAS Conference on Robotics and Autonomous Systems, 2017
Publisher: UK-RAS Conference on Robotics and Autonomous Systems (RAS 2017)

Modelling and Predicting Rhythmic Flow Patterns in Dynamic Environments

Author(s): Sergi Molina, Grzegorz Cielniak, Tomáš Krajník, and Tom Duckett
Published in: 2017 RAS Conference on Robotics and Autonomous Systems, 2017
Publisher: UK-RAS Conference on Robotics and Autonomous Systems (RAS 2017)

Spatiotemporal models for motion planning in human populated environments

Author(s): Toma´s Vintr, Sergi Molina, Gregorz Cielniak, Tom Duckett, Tom ˇ a´s Krajn ˇ ´ık
Published in: 2017 Student Conference on Planning in Artificial Intelligence and Robotics (PAIR), 2017
Publisher: Student Conference on Planning in Artificial Intelligence and Robotics (PAIR)

Gradient-Informed Path Smoothing for Wheeled Mobile Robots

Author(s): Eric Heiden, Luigi Palmieri, Sven Koenig, Kai O. Arras, Gaurav S. Sukhatme
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1710-1717, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/ICRA.2018.8460818

Joint Long-Term Prediction of Human Motion Using a Planning-Based Social Force Approach

Author(s): Andrey Rudenko, Luigi Palmieri, Kai O. Arras
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1-7, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/ICRA.2018.8460527

3DOF Pedestrian Trajectory Prediction Learned from Long-Term Autonomous Mobile Robot Deployment Data

Author(s): Li Sun, Zhi Yan, Sergi Molina Mellado, Marc Hanheide, Tom Duckett
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1-7, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/ICRA.2018.8461228

A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control

Author(s): Federico Pecora, Henrik Andreasson, Masoumeh Mansouri and Vilian Petkov
Published in: International Conference on Automated Planning and Scheduling (ICAPS 2018), 2018
Publisher: ICAPS

Synthetic Occlusion Augmentation with Volumetric Heatmaps for the 2018 ECCV PoseTrack Challenge on 3D Human Pose Estimation

Author(s): István Sárándi, Timm Linder, Kai O. Arras and Bastian Leibe
Published in: 2018
Publisher: European Conference on Computer Vission (ECCV)

Human Motion Prediction Under Social Grouping Constraints

Author(s): Andrey Rudenko, Luigi Palmieri, Achim J. Lilienthal and Kai O. Arras
Published in: 2018
Publisher: IEEE

How Robust is 3D Human Pose Estimation to Occlusion?

Author(s): István Sárándi, Timm Linder, Kai O. Arras, and Bastian Leibe
Published in: 2018
Publisher: IEEE/RSJ

A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry

Author(s): Daniel Ricao Canelhas, Todor Stoyanov, Achim J. Lilienthal
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 3637-3643, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/ICRA.2018.8461227

Modelling and Predicting Rhythmic Flow Patterns in Dynamic Environments

Author(s): Sergi Molina, Grzegorz Cielniak, Tomáš Krajník, Tom Duckett
Published in: 2018, Page(s) 135-146
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-96728-8_12

Improving Localisation Accuracy using Submaps in warehouses

Author(s): Daniel Adolfsson, Stephanie Lowry, and Henrik Andreasson
Published in: 2018
Publisher: IEEE/IROS

Towards Accurate 3D Person Detection and Localization from RGB-D in Cluttered Environments

Author(s): Timm Linder, Dennis Griesser, Narunas Vaskevicius and Kai O. Arras
Published in: 2018
Publisher: IEEE/IROS

Down The CLiFF: Flow-aware Trajectory Planning under Motion Pattern Uncertainty

Author(s): Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, Martin Magnusson, Luigi Palmieri and Achim J. Lilienthal
Published in: 2018
Publisher: IEEE/IROS

Multisensor Online Transfer Learning for 3D LiDAR-based Human Detection with a Mobile Robot

Author(s): Zhi Yan, Li Sun, Tom Duckett, and Nicola Bellotto
Published in: 2018
Publisher: IEEE/IROS

Learning monocular visual odometry with dense 3D mapping from dense 3D flow

Author(s): Cheng Zhao, Li Sun, Pulak Purkait, Tom Duckett, and Rustam Stolkin
Published in: 2018
Publisher: IEEE/IROS

Safety Map: A Tool for Global Robot Safety Evaluation and Safe Robot Design

Author(s): Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin and Sami Haddadin
Published in: 2018
Publisher: IEEE
DOI: 10.15488/3572

Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization

Author(s): João Salvado, Federico Pecora, Masoumeh Mansouri, and Robert Krug
Published in: 2018
Publisher: IEEE
DOI: 10.1109/iros.2018.8594118

Informed Information Theoretic Model Predictive Control

Author(s): Raphael Kusumoto, Luigi Palmieri, Markus Spies, Akos Csiszar, and Kai. O. Arras
Published in: 2019
Publisher: IEEE

Towards Training Person Detectors for Mobile Robots using Synthetically Generated RGB-D Data

Author(s): Timm Linder, Michael Johan Hernandez Leon, Narunas Vaskevicius and Kai Oliver Arras
Published in: 2019
Publisher: CVPR 2019

Go with the Flow: Exploration and Mapping of Pedestrian Flow Patterns from Partial Observations

Author(s): Sergi Molina, Grzegorz Cielniak, Tom Duckett
Published in: 2019 International Conference on Robotics and Automation (ICRA), 2019, Page(s) 9725-9731, ISBN 978-1-5386-6027-0
Publisher: IEEE
DOI: 10.1109/icra.2019.8794434

Time-varying Pedestrian Flow Models for Service Robots

Author(s): Tomás Vintr, Sergi Molina, Ransalu Senanayake, George Broughton, Zhi Yan, Jirı Ulrich, Tomasz Piotr Kucner, Chittaranjan Srinivas Swaminathan, Filip Majer, Mária Stachová, Achim J. Lilienthal and Tomás Krajník
Published in: 2019
Publisher: European Conference on Mobile Robotics (ECMR 2019)

Accessing your navigation plans! Human Robot Intention Transfer using Eye Tracking Glasses

Author(s): Ravi Teja Chadalavada, Henrik Andreasson, Maike Schindler, Rainer Palm and Achim J. Lilienthal
Published in: 2018
Publisher: International Conference on Manufacturing Research (ICMR) 2018
DOI: 10.3233/978-1-61499-902-7-253

Kinodynamic motion planning on Gaussian mixture fields

Author(s): Luigi Palmieri, Tomasz P. Kucner, Martin Magnusson, Achim J. Lilienthal, Kai O. Arras
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 6176-6181, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989731

Natural Criteria for Comparison of Pedestrian Flow Forecasting Models

Author(s): Tomas Vintr, Zhi Yan, Kerem Eyisoy, Filip Kubis, Jan Blaha, Jiri Ulrich, Chittaranjan S. Swaminathan, Sergi Molina, Tomasz P. Kucner, Martin Magnusson, Gregorz Cielniak, Jan Faigl, Tom Duckett, Achim J. Lilienthal, Tomas Krajnik
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 11197-11204, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341672

Robust Frequency-Based Structure Extraction

Author(s): Kucner, Tomasz Piotr; Lowry, Stephanie; Magnusson, Martin; Lilienthal, Achim J.
Published in: Issue 1, 2021
Publisher: ICRA

Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups

Author(s): Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin
Published in: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021, Page(s) 310-315, ISBN 978-1-6654-3862-9
Publisher: IEEE
DOI: 10.1109/isr50024.2021.9419569

“Learningmonocular visual odometry with dense 3D mapping from dense 3D flow”.

Author(s): Cheng Zhao, Li Sun, Pulak Purkait, Tom Duckett, and Rustam Stolkin.
Published in: 2018
Publisher: IEEE

An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance

Author(s): Tobias Schoels, Luigi Palmieri, Kai O. Arras, Moritz Diehl
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 3574-3580, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9197206

Flexible Automated Depalletizing: an Unwrapping Robot to Remove Plastic from Palletized Goods.

Author(s): Chiara Gabellieri,  Alessandro Palleschi, Manuel G Catalano, Manolo Garabini, Lucia Pallottino
Published in: 2020
Publisher: I-RIM

Joint Long-Term Prediction of Human Motion Using a Planning-Based Social Force Approach

Author(s): Andrey Rudenko, Luigi Palmieri, and Kai Oliver Arras
Published in: 2018
Publisher: IEEE

 Fully Autonomous Picking with a Dual-Arm Platform for Intralogistics.

Author(s): Alessandro Palleschi, Marco Gugliotta, Chiara Gabellieri, Dinh-Cuong Hoang, Todor Stoyanov, Manolo Garabini, Lucia Pallottino.
Published in: 2020
Publisher: I-RIM

Peer reviewed articles (46)

Time-Optimal Trajectory Planning for Flexible Joint Robots

Author(s): Alessandro Palleschi, Riccardo Mengacci, Franco Angelini, Danilo Caporale, Lucia Pallottino, Alessandro De Luca, Manolo Garabini
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 938-945, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2965861

Priority-Based Distributed Coordination for Heterogeneous Multi-Robot Systems with Realistic Assumptions.

Author(s): Michele Cecchi, Matteo Paiano, Anna Mannucci, Alessandro Palleschi, Federico Pecora, Lucia Pallottino.
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3774
Publisher: Stanford University

LiDAR-Based GNSS Denied Localization for Autonomous Racing Cars

Author(s): Federico Massa, Luca Bonamini, Alessandro Settimi, Lucia Pallottino, Danilo Caporale
Published in: Sensors, Issue 20/14, 2020, Page(s) 3992, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20143992

Time-Optimal Path Tracking for Jerk Controlled Robots

Author(s): Alessandro Palleschi, Manolo Garabini, Danilo Caporale, Lucia Pallottino
Published in: IEEE Robotics and Automation Letters, Issue 4/4, 2019, Page(s) 3932-3939, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2929979

Towards an Autonomous Unwrapping System for Intralogistics

Author(s): Chiara Gabellieri, Martin Magnusson, Manolo Garabini, Lucia Pallottino, Alessandro Palleschi, Anna Mannucci, Michele Pierallini, Elisa Stefanini, Manuel G. Catalano, Danilo Caporale, Alessandro Settimi, Todor Stoyanov
Published in: IEEE Robotics and Automation Letters, Issue 4/4, 2019, Page(s) 4603-4610, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2934710

Robotic explorationfor learning human motion patterns

Author(s): Sergio Molina Mellado, Grzegorz Cielniak, and Tom Duckett.
Published in: IEEE Transactions on Robotics, 2021, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers

Object-RPE: Dense 3D reconstruction and pose estimation with convolutional neural networks

Author(s): Dinh-Cuong Hoang, Achim J. Lilienthal, Todor Stoyanov
Published in: Robotics and Autonomous Systems, Issue 133, 2020, Page(s) 103632, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2020.103632

On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation

Author(s): Anna Mannucci, Danilo Caporale, Lucia Pallottino
Published in: IEEE Transactions on Robotics, Issue 37/1, 2021, Page(s) 257-274, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.3018642

Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots

Author(s): Eric Heiden, Luigi Palmieri, Leonard Bruns, Kai O. Arras, Gaurav S. Sukhatme, Sven Koenig
Published in: IEEE Robotics and Automation Letters, Issue 6/3, 2021, Page(s) 4536-4543, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068913

Guest Editorial: Introduction to the Special Issue on Long-Term Human Motion Prediction

Author(s): Luigi Palmieri,  Andrey Rudenko, Jim Mainprice, Marc Hanheide, Alexandre Alahi, Achim Lilienthal, and Kai O. Arras.
Published in: IEEE Robotics and Automation Letters., 2021, ISSN 2377-3774
Publisher: IEEE

FreMEn: Frequency Map Enhancement for Long-Term Mobile Robot Autonomy in Changing Environments

Author(s): Tomas Krajnik, Jaime P. Fentanes, Joao M. Santos, Tom Duckett
Published in: IEEE Transactions on Robotics, Issue 33/4, 2017, Page(s) 964-977, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2017.2665664

Dispertio: Optimal Sampling For Safe Deterministic Motion Planning

Author(s): Luigi Palmieri, Leonard Bruns, Michael Meurer, Kai O. Arras
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 362-368, ISSN 2377-3766
Publisher: Cornell University
DOI: 10.1109/lra.2019.2958525

Online Task Assignment and Coordination in Multi-Robot Fleets

Author(s): Paolo Forte, Anna Mannucci, Henrik Andreasson, Federico Pecora
Published in: IEEE Robotics and Automation Letters, Issue 6/3, 2021, Page(s) 4584-4591, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068918

MeTRAbs: Metric-Scale Truncation-Robust Heatmaps for Absolute 3D Human Pose Estimation

Author(s): Istvan Sarandi, Timm Linder, Kai Oliver Arras, Bastian Leibe
Published in: IEEE Transactions on Biometrics, Behavior, and Identity Science, Issue 3/1, 2021, Page(s) 16-30, ISSN 2637-6407
Publisher: IEEE
DOI: 10.1109/tbiom.2020.3037257

Learning Occupancy Priors of Human Motion From Semantic Maps of Urban Environments.

Author(s): Andrey Rudenko, Luigi Palmieri, Johannes Doellinger, Achim J. Lilienthal, and Kai O. Arras, Kai O.
Published in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher: IEEE

Dynamic Whole-Body Control of Unstable Wheeled Humanoid Robots

Author(s): Grazia Zambella, Gianluca Lentini, Manolo Garabini, Giorgio Grioli, Manuel G. Catalano, Alessandro Palleschi, Lucia Pallottino, Antonio Bicchi, Alessandro Settimi, Danilo Caporale
Published in: IEEE Robotics and Automation Letters, Issue 4/4, 2019, Page(s) 3489-3496, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2927961

Fast and Safe Trajectory Planning: Solving the Cobot Performance/Safety Trade-Off in Human-Robot Shared Environments

Author(s): Alessandro Palleschi,  Mazin Hamad, Saeed Abdolshah, Manolo Garabini, Sami Haddadin, Lucia Pallottino
Published in: IEEE Robotics & Automation Letters, 2021, ISSN 2377-3774
Publisher: IEEE
DOI: 10.1109/lra.2021.3076968

Circular Fields and Predictive Multi-Agents for Online Global Trajectory Planning

Author(s): Marvin Becker, Torsten Lilge, Matthias A. Muller, Sami Haddadin
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 2618-2625, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061997

Provably Safe Multi-Robot Coordination With Unreliable Communication

Author(s): Anna Mannucci, Lucia Pallottino, Federico Pecora
Published in: IEEE Robotics and Automation Letters, Issue 4/4, 2019, Page(s) 3232-3239, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2924849

Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators

Author(s): Seyed Ali Baradaran Birjandi, Sami Haddadin
Published in: IEEE Robotics and Automation Letters, Issue 5/4, 2020, Page(s) 6544-6551, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3015187

CIAO⁎: MPC-based Safe Motion Planning in Predictable Dynamic Environments

Author(s): Tobias Schoels, Per Rutquist, Luigi Palmieri, Andrea Zanelli, Kai O. Arras, Moritz Diehl
Published in: IFAC-PapersOnLine, Issue 53/2, 2020, Page(s) 6555-6562, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/j.ifacol.2020.12.072

Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach

Author(s): Nico Mansfeld, Manuel Keppler, Sami Haddadin
Published in: IEEE Robotics and Automation Letters, Issue 6/3, 2021, Page(s) 4600-4607, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068698

Enabling Flow Awareness for Mobile Robots in Partially Observable Environments

Author(s): Tomasz Piotr Kucner, Martin Magnusson, Erik Schaffernicht, Victor Hernandez Bennetts, Achim J. Lilienthal
Published in: IEEE Robotics and Automation Letters, Issue 2/2, 2017, Page(s) 1093-1100, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2017.2660060

Learning to detect misaligned point clouds

Author(s): Håkan Almqvist, Martin Magnusson, Tomasz P. Kucner, Achim J. Lilienthal
Published in: Journal of Field Robotics, 2017, ISSN 1556-4959
Publisher: John Wiley & Sons Ltd.
DOI: 10.1002/rob.21768

Deep Person Detection in Two-Dimensional Range Data

Author(s): Lucas Beyer, Alexander Hermans, Timm Linder, Kai O. Arras, Bastian Leibe
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2726-2733, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2835510

Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties

Author(s): Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin, Sami Haddadin
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 1880-1887, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2018.2801477

2D map alignment with region decomposition

Author(s): Saeed Gholami Shahbandi, Martin Magnusson
Published in: Autonomous Robots, 2018, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-018-9785-7

Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer

Author(s): Saeed Gholami Shahbandi, Martin Magnusson, Karl Iagnemma
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2040-2047, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2806439

Introduction to the Special Issue on AI for Long-Term Autonomy

Author(s): L. Kunze, N. Hawes, T. Duckett, M. Hanheide
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 4431-4434, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2870466

Artificial Intelligence for Long-Term Robot Autonomy: A Survey

Author(s): Lars Kunze, Nick Hawes, Tom Duckett, Marc Hanheide, Tomas Krajnik
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 4023-4030, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2860628

Recurrent-OctoMap: Learning State-Based Map Refinement for Long-Term Semantic Mapping With 3-D-Lidar Data

Author(s): Li Sun, Zhi Yan, Anestis Zaganidis, Cheng Zhao, Tom Duckett
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 3749-3756, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2856268

Integrating Deep Semantic Segmentation Into 3-D Point Cloud Registration

Author(s): Anestis Zaganidis, Li Sun, Tom Duckett, Grzegorz Cielniak
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 2942-2949, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2848308

Dense RGB-D Semantic Mapping with Pixel-Voxel Neural Network

Author(s): Cheng Zhao, Li Sun, Pulak Purkait, Tom Duckett, Rustam Stolkin
Published in: Sensors, Issue 18/9, 2018, Page(s) 3099, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s18093099

ursim: Unique Regions for Sketch map Interpretation and Matching

Author(s): Malcolm Mielle, Martin Magnusson, Achim J. Lilienthal
Published in: Robotics, Issue 8/2, 2019, Page(s) 43, ISSN 2218-6581
Publisher: Robotics
DOI: 10.3390/robotics8020043

The Auto-Complete Graph: Merging and Mutual Correction of Sensor and Prior Maps for SLAM

Author(s): Malcolm Mielle, Martin Magnusson, Achim J. Lilienthal
Published in: Robotics, Issue 8/2, 2019, Page(s) 40, ISSN 2218-6581
Publisher: Robotics
DOI: 10.3390/robotics8020040

A Novel Weakly-Supervised Approach for RGB-D-Based Nuclear Waste Object Detection

Author(s): Li Sun, Cheng Zhao, Zhi Yan, Pengcheng Liu, Tom Duckett, Rustam Stolkin
Published in: IEEE Sensors Journal, Issue 19/9, 2019, Page(s) 3487-3500, ISSN 1530-437X
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2018.2888815

Deconfliction of Motion Paths With Traffic Inspired Rules

Author(s): Federico Celi, Li Wang, Lucia Pallottino, Magnus Egerstedt
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 2227-2234, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2899932

THÖR: Human-Robot Navigation Data Collection and Accurate Motion Trajectories Dataset

Author(s): Andrey Rudenko, Tomasz P. Kucner, Chittaranjan S. Swaminathan, Ravi T. Chadalavada, Kai O. Arras, Achim J. Lilienthal
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 676-682, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2965416

Learning Occupancy Priors of Human Motion from Semantic Maps of Urban Environments

Author(s): Rudenko, Andrey; Palmieri, Luigi; Doellinger, Johannes; Lilienthal, Achim J.; Arras, Kai O.
Published in: IEEE Robotics and Automation Letters, Issue 1, 2021, ISSN 2377-3766
Publisher: IEEE

WRAPP-Up: A Dual-Arm Robot for Intralogistics

Author(s): Manolo Garabini, Danilo Caporale, Vinicio Tincani, Alessandro Palleschi, Chiara Gabellieri, Marco Gugliotta, Alessandro Settimi, Manuel Giuseppe Catalano, Giorgio Grioli, Lucia Pallottino
Published in: IEEE Robotics & Automation Magazine, 2020, Page(s) 0-0, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2020.3015899

Bi-directional navigation intent communication using spatial augmented reality and eye-tracking glasses for improved safety in human–robot interaction

Author(s): Ravi Teja Chadalavada, Henrik Andreasson, Maike Schindler, Rainer Palm, Achim J. Lilienthal
Published in: Robotics and Computer-Integrated Manufacturing, Issue 61, 2020, Page(s) 101830, ISSN 0736-5845
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2019.101830

Grasp It Like a Pro: Grasp of Unknown Objects With Robotic Hands Based on Skilled Human Expertise

Author(s): Chiara Gabellieri, Franco Angelini, Visar Arapi, Alessandro Palleschi, Manuel G. Catalano, Giorgio Grioli, Lucia Pallottino, Antonio Bicchi, Matteo Bianchi, Manolo Garabini
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 2808-2815, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2974391

Human Motion Trajectory Prediction: A Survey

Author(s): Rudenko, Andrey; Palmieri, Luigi; Herman, Michael; Kitani, Kris M.; Gavrila, D.; Arras, Kai O.
Published in: urn:issn:0278-3649, Issue 7, 2020, ISSN 1741-3176
Publisher: SAGE

Calibrating Range Measurements of Lidars Using Fixed Landmarks in Unknown Positions

Author(s): Anas Alhashimi, Martin Magnusson, Steffi Knorn, Damiano Varagnolo
Published in: Sensors, Issue 21/1, 2021, Page(s) 155, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21010155

Panoptic 3D Mapping and Object Pose Estimation Using Adaptively Weighted Semantic Information

Author(s): Dinh-Cuong Hoang, Achim J. Lilienthal, Todor Stoyanov
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 1962-1969, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2970682

Unified Motion-Based Calibration of Mobile Multi-Sensor Platforms With Time Delay Estimation

Author(s): Bartolomeo Della Corte, Henrik Andreasson, Todor Stoyanov, Giorgio Grisetti
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 902-909, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2892992

Other (6)

Synthetic Occlusion Augmentation with Volumetric Heatmaps for the 2018 ECCV PoseTrack Challenge on 3D Human Pose Estimation

Author(s): Sárándi, István; Linder, Timm; Arras, Kai O.; Leibe, Bastian
Published in: Issue 1, 2018
Publisher: European Conference on Computer Vision (Workshops)

Deep Person Detection in 2D Range Data

Author(s): Beyer, Lucas; Hermans, Alexander; Linder, Timm; Arras, Kai O.; Leibe, Bastian
Published in: IEEE Robotics and Automation Letters 3.3, Issue 1, 2018
Publisher: IEEE

“Distributed Task Assignment and Opti-mal Control for Heterogeneous Autonomous Vehicles”.

Author(s): Alessandro Settimi and Lucia Pallottino.
Published in: 2018
Publisher: IEEE

“Probabilistic pose estimation quality assessment based on BayesianModel Average”. MA thesis.

Author(s): WeiWei Feng.
Published in: 2017
Publisher: Örebro University,

NDT-Transformer: Large-Scale 3D Point Cloud Localisation using the Normal Distribution Transform Representation

Author(s): Zhicheng Zhou; Zhao, Cheng; Adolfsson, Daniel; Songzhi Su; Gao, Yang; Duckett, Tom; Sun, Li
Published in: Issue 1, 2021
Publisher: ArXiv
DOI: 10.13140/rg.2.2.28949.04325

High-quality Instance-aware Semantic 3D Map Using RGB-D Camera

Author(s): Dinh-Cuong Hoang, Todor Stoyanov, and Achim J Lilienthal.
Published in: 2019
Publisher: Arxiv

Thesis and dissertations (2)

Exploration and Mapping of Spatio-Temporal PedestrianFlow Patterns for Mobile Robots

Author(s): Sergio Molina Mellado
Published in: 2021
Publisher: University of Lincoln

“Multi-Modal Human Detection, Tracking and Analysis for Robotsin Crowded Environments”.

Author(s): Timm Linder.
Published in: 2020
Publisher: Department of Com-puter Science, Albert-Ludwigs-Universität Freiburg, 2020
DOI: 10.6094/unifr/193591

Book chapters (1)

Making the Case for Human-Aware Navigation in Warehouses

Author(s): Manuel Fernandez Carmona, Tejas Parekh, Marc Hanheide
Published in: Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, London, UK, July 3–5, 2019, Proceedings, Part II, Issue 11650, 2019, Page(s) 449-453, ISBN 978-3-030-25331-8
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-25332-5_38

Monographic books (1)

Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots

Author(s): Tomasz Piotr Kucner, Achim J. Lilienthal, Martin Magnusson, Luigi Palmieri, Chittaranjan Srinivas Swaminathan
Published in: 2020, ISBN 978-3-030-41808-3
Publisher: Springer
DOI: 10.1007/978-3-030-41808-3

Intellectual Property Rights

Patent (3)

METHOD OF CONTROLLING A VEHICLE AND APPARATUS FOR CONTROLLING A VEHICLE

Application/Publication number: 19 174326
Date: 2019-05-14

METHOD FOR PREDICTING AT LEAST ONE FUTURE VELOCITY VECTOR AND/OR A FUTURE POSE OF A PEDESTRIAN

Application/Publication number: 20 19061339
Date: 2019-05-03

COMPUTER-IMPLEMENTED METHOD AND APPARATUS FOR PLANNING A PATH OR TRAJECTORY OF AN AGENT

Application/Publication number: 19 176506
Date: 2019-05-24