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

Deliverables

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.

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.

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.

Public ILIAD website online and social media appearance initialised

Public ILIAD website online and social media appearance initialised.

ILIAD flyer

ILIAD flyer.

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.

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).

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Publications

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
DOI: 10.1109/LRA.2017.2660060

Learning to detect misaligned point clouds


Published in: ISSN 1556-4959
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
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
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
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
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
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
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
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
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
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
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
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
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
DOI: 10.1109/lra.2019.2899932

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
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
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
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
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
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
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

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

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

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

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
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
DOI: 10.1109/ICRA.2018.8460527

Improving the performance of biomechanically safe velocity control for redundant robots through reflected mass minimization

Author(s): Nico Mansfeld, Badis Djellab, Jaime Raldua Veuthey, Fabian Beck, Christian Ott, Sami Haddadin
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 5390-5397
DOI: 10.1109/IROS.2017.8206435

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
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

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

Human Motion Prediction Under Social Grouping Constraints

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

How Robust is 3D Human Pose Estimation to Occlusion?

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

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
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
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

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

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

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

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

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
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
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

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

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
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

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
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
DOI: 10.1109/ICRA.2017.7989731