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

Livrables

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.

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).

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.

Publications

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

Auteurs: Daniel Adolfsson, Martin Magnusson, Anas W. Alhashimi, Achim J. Lilienthal, and Henrik Andreasson.
Publié dans: 2021
Éditeur: IROS

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

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

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

Auteurs: Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, Sami Haddadin
Publié dans: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021, Page(s) 316-320, ISBN 978-1-6654-3862-9
Éditeur: 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

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

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

Auteurs: Mazin Hamad, Petr Svarny, Alexander Kurdas, Matej Hoffmann, Saeed Abdol-shah, and Sami Haddadin.
Publié dans: 2021
Éditeur: IROS

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

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

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

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

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

Auteurs: Robin Jeanne Kirschner, João Jantalia, Nico Mansfeld, Saeed Abdolshah and Sami Haddadin.
Publié dans: Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Éditeur: IEEE

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

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

Toward Distributed solutions for heterogeneous fleet coordination.

Auteurs: Alessandro Palleschi, Anna Mannucci, Danilo Caporale, Federico Pecora, Lucia Pallottino.
Publié dans: 2020
Éditeur: I-RIM

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

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

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

Auteurs: J. Salvado, M. Mansouri, and F. Pecor
Publié dans: 2021
Éditeur: ICRA

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

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

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

Auteurs: Robin Jeanne Kirschner, Kübra Karacan, Philipp Junge, Seyed Ali Baradaran Bir-jandi, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin.
Publié dans: 2021
Éditeur: IEEE

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

Auteurs: Sergio Molina Mellado, Grzegorz Cielniak, Tomáš Krajník, and Tom Duckett.
Publié dans: TAROS., 2018
Éditeur: University of Lincoln

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

Auteurs: F Pecora, A Mannucci, and C S Swaminathan.
Publié dans: 2020
Éditeur: Zenodo

Multi-Robot Planning Under Uncertain Travel Times and Safety Constraints

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

“CorAl – Are the point clouds Correctly Aligned?”

Auteurs: Daniel Adolfsson, Martin Magnusson, Qianfang Liao, Achim J. Lilienthal, and Hen-rik Andreasson.
Publié dans: 2021
Éditeur: ECMR

The Role of Robot Payload in the Safety Map Framework

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

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

Auteurs: Zhicheng Zhou, Cheng Zhao, Daniel Adolfsson, Songzhi Su, Yang Gao, Tom Duckett, Li Sun
Publié dans: 2021
Éditeur: ICRA 2021

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

Auteurs: Dinmukhamed Zardykhan, Petr Svarny, Erfan Shahriari, and Sami Haddadin.
Publié dans: 2019
Éditeur: IEEE

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

Auteurs: J. Salvado, M. Mansouri, and F. Pecora
Publié dans: 2021
Éditeur: CASE

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

Auteurs: Nico Mansfeld; Mazin Hamad; Marvin Becker; Antonio Gonzales Marin and Sami Haddadin
Publié dans: Numéro 6, 2019
Éditeur: IEEE

Noninteracting constrained motion planning and control for robot manipulators

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

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

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

Semi-supervised 3D place categorisation by descriptor clustering

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

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

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

Incorporating ego-motion uncertainty estimates in range data registration

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

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

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

Predictive Planning for a Mobile Robot in Human Environments

Auteurs: Andrey Rudenko, Luigi Palmieri, and Kai O. Arras
Publié dans: 2017 IEEE ICRA Workshop on AI Planning and Robotics: Challenges and Methods, 2017
Éditeur: IEEE

Navigation Testing for Continuous Integration in Robotics

Auteurs: Jaime Pulido Fentanes, Christian Dondrup, and Marc Hanheide
Publié dans: 2017 RAS Conference on Robotics and Autonomous Systems, 2017
Éditeur: UK-RAS Conference on Robotics and Autonomous Systems (RAS 2017)

Modelling and Predicting Rhythmic Flow Patterns in Dynamic Environments

Auteurs: Sergi Molina, Grzegorz Cielniak, Tomáš Krajník, and Tom Duckett
Publié dans: 2017 RAS Conference on Robotics and Autonomous Systems, 2017
Éditeur: UK-RAS Conference on Robotics and Autonomous Systems (RAS 2017)

Spatiotemporal models for motion planning in human populated environments

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

Gradient-Informed Path Smoothing for Wheeled Mobile Robots

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

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

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

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

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

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

Auteurs: Federico Pecora, Henrik Andreasson, Masoumeh Mansouri and Vilian Petkov
Publié dans: International Conference on Automated Planning and Scheduling (ICAPS 2018), 2018
Éditeur: ICAPS

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

Auteurs: István Sárándi, Timm Linder, Kai O. Arras and Bastian Leibe
Publié dans: 2018
Éditeur: European Conference on Computer Vission (ECCV)

Human Motion Prediction Under Social Grouping Constraints

Auteurs: Andrey Rudenko, Luigi Palmieri, Achim J. Lilienthal and Kai O. Arras
Publié dans: 2018
Éditeur: IEEE

How Robust is 3D Human Pose Estimation to Occlusion?

Auteurs: István Sárándi, Timm Linder, Kai O. Arras, and Bastian Leibe
Publié dans: 2018
Éditeur: IEEE/RSJ

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

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

Modelling and Predicting Rhythmic Flow Patterns in Dynamic Environments

Auteurs: Sergi Molina, Grzegorz Cielniak, Tomáš Krajník, Tom Duckett
Publié dans: 2018, Page(s) 135-146
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-319-96728-8_12

Improving Localisation Accuracy using Submaps in warehouses

Auteurs: Daniel Adolfsson, Stephanie Lowry, and Henrik Andreasson
Publié dans: 2018
Éditeur: IEEE/IROS

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

Auteurs: Timm Linder, Dennis Griesser, Narunas Vaskevicius and Kai O. Arras
Publié dans: 2018
Éditeur: IEEE/IROS

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

Auteurs: Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, Martin Magnusson, Luigi Palmieri and Achim J. Lilienthal
Publié dans: 2018
Éditeur: IEEE/IROS

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

Auteurs: Zhi Yan, Li Sun, Tom Duckett, and Nicola Bellotto
Publié dans: 2018
Éditeur: IEEE/IROS

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

Auteurs: Cheng Zhao, Li Sun, Pulak Purkait, Tom Duckett, and Rustam Stolkin
Publié dans: 2018
Éditeur: IEEE/IROS

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

Auteurs: Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin and Sami Haddadin
Publié dans: 2018
Éditeur: IEEE
DOI: 10.15488/3572

Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization

Auteurs: João Salvado, Federico Pecora, Masoumeh Mansouri, and Robert Krug
Publié dans: 2018
Éditeur: IEEE
DOI: 10.1109/iros.2018.8594118

Informed Information Theoretic Model Predictive Control

Auteurs: Raphael Kusumoto, Luigi Palmieri, Markus Spies, Akos Csiszar, and Kai. O. Arras
Publié dans: 2019
Éditeur: IEEE

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

Auteurs: Timm Linder, Michael Johan Hernandez Leon, Narunas Vaskevicius and Kai Oliver Arras
Publié dans: 2019
Éditeur: CVPR 2019

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

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

Time-varying Pedestrian Flow Models for Service Robots

Auteurs: 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
Publié dans: 2019
Éditeur: European Conference on Mobile Robotics (ECMR 2019)

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

Auteurs: Ravi Teja Chadalavada, Henrik Andreasson, Maike Schindler, Rainer Palm and Achim J. Lilienthal
Publié dans: 2018
Éditeur: International Conference on Manufacturing Research (ICMR) 2018
DOI: 10.3233/978-1-61499-902-7-253

Kinodynamic motion planning on Gaussian mixture fields

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

Natural Criteria for Comparison of Pedestrian Flow Forecasting Models

Auteurs: 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
Publié dans: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 11197-11204, ISBN 978-1-7281-6212-6
Éditeur: IEEE
DOI: 10.1109/iros45743.2020.9341672

Robust Frequency-Based Structure Extraction

Auteurs: Kucner, Tomasz Piotr; Lowry, Stephanie; Magnusson, Martin; Lilienthal, Achim J.
Publié dans: Numéro 1, 2021
Éditeur: ICRA

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

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

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

Auteurs: Cheng Zhao, Li Sun, Pulak Purkait, Tom Duckett, and Rustam Stolkin.
Publié dans: 2018
Éditeur: IEEE

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

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

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

Auteurs: Chiara Gabellieri, Alessandro Palleschi, Manuel G Catalano, Manolo Garabini, Lucia Pallottino
Publié dans: 2020
Éditeur: I-RIM

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

Auteurs: Andrey Rudenko, Luigi Palmieri, and Kai Oliver Arras
Publié dans: 2018
Éditeur: IEEE

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

Auteurs: Alessandro Palleschi, Marco Gugliotta, Chiara Gabellieri, Dinh-Cuong Hoang, Todor Stoyanov, Manolo Garabini, Lucia Pallottino.
Publié dans: 2020
Éditeur: I-RIM

Time-Optimal Trajectory Planning for Flexible Joint Robots

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

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

Auteurs: Michele Cecchi, Matteo Paiano, Anna Mannucci, Alessandro Palleschi, Federico Pecora, Lucia Pallottino.
Publié dans: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3774
Éditeur: Stanford University

LiDAR-Based GNSS Denied Localization for Autonomous Racing Cars

Auteurs: Federico Massa, Luca Bonamini, Alessandro Settimi, Lucia Pallottino, Danilo Caporale
Publié dans: Sensors, Numéro 20/14, 2020, Page(s) 3992, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20143992

Time-Optimal Path Tracking for Jerk Controlled Robots

Auteurs: Alessandro Palleschi, Manolo Garabini, Danilo Caporale, Lucia Pallottino
Publié dans: IEEE Robotics and Automation Letters, Numéro 4/4, 2019, Page(s) 3932-3939, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2019.2929979

Towards an Autonomous Unwrapping System for Intralogistics

Auteurs: 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
Publié dans: IEEE Robotics and Automation Letters, Numéro 4/4, 2019, Page(s) 4603-4610, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2019.2934710

Robotic explorationfor learning human motion patterns

Auteurs: Sergio Molina Mellado, Grzegorz Cielniak, and Tom Duckett.
Publié dans: IEEE Transactions on Robotics, 2021, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers

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

Auteurs: Dinh-Cuong Hoang, Achim J. Lilienthal, Todor Stoyanov
Publié dans: Robotics and Autonomous Systems, Numéro 133, 2020, Page(s) 103632, ISSN 0921-8890
Éditeur: Elsevier BV
DOI: 10.1016/j.robot.2020.103632

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

Auteurs: Anna Mannucci, Danilo Caporale, Lucia Pallottino
Publié dans: IEEE Transactions on Robotics, Numéro 37/1, 2021, Page(s) 257-274, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2020.3018642

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

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

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

Auteurs: Luigi Palmieri, Andrey Rudenko, Jim Mainprice, Marc Hanheide, Alexandre Alahi, Achim Lilienthal, and Kai O. Arras.
Publié dans: IEEE Robotics and Automation Letters., 2021, ISSN 2377-3774
Éditeur: IEEE

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

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

Dispertio: Optimal Sampling For Safe Deterministic Motion Planning

Auteurs: Luigi Palmieri, Leonard Bruns, Michael Meurer, Kai O. Arras
Publié dans: IEEE Robotics and Automation Letters, Numéro 5/2, 2020, Page(s) 362-368, ISSN 2377-3766
Éditeur: Cornell University
DOI: 10.1109/lra.2019.2958525

Online Task Assignment and Coordination in Multi-Robot Fleets

Auteurs: Paolo Forte, Anna Mannucci, Henrik Andreasson, Federico Pecora
Publié dans: IEEE Robotics and Automation Letters, Numéro 6/3, 2021, Page(s) 4584-4591, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3068918

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

Auteurs: Istvan Sarandi, Timm Linder, Kai Oliver Arras, Bastian Leibe
Publié dans: IEEE Transactions on Biometrics, Behavior, and Identity Science, Numéro 3/1, 2021, Page(s) 16-30, ISSN 2637-6407
Éditeur: IEEE
DOI: 10.1109/tbiom.2020.3037257

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

Auteurs: Andrey Rudenko, Luigi Palmieri, Johannes Doellinger, Achim J. Lilienthal, and Kai O. Arras, Kai O.
Publié dans: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Éditeur: IEEE

Dynamic Whole-Body Control of Unstable Wheeled Humanoid Robots

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

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

Auteurs: Alessandro Palleschi, Mazin Hamad, Saeed Abdolshah, Manolo Garabini, Sami Haddadin, Lucia Pallottino
Publié dans: IEEE Robotics & Automation Letters, 2021, ISSN 2377-3774
Éditeur: IEEE
DOI: 10.1109/lra.2021.3076968

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

Auteurs: Marvin Becker, Torsten Lilge, Matthias A. Muller, Sami Haddadin
Publié dans: IEEE Robotics and Automation Letters, Numéro 6/2, 2021, Page(s) 2618-2625, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3061997

Provably Safe Multi-Robot Coordination With Unreliable Communication

Auteurs: Anna Mannucci, Lucia Pallottino, Federico Pecora
Publié dans: IEEE Robotics and Automation Letters, Numéro 4/4, 2019, Page(s) 3232-3239, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2019.2924849

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

Auteurs: Seyed Ali Baradaran Birjandi, Sami Haddadin
Publié dans: IEEE Robotics and Automation Letters, Numéro 5/4, 2020, Page(s) 6544-6551, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2020.3015187

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

Auteurs: Tobias Schoels, Per Rutquist, Luigi Palmieri, Andrea Zanelli, Kai O. Arras, Moritz Diehl
Publié dans: IFAC-PapersOnLine, Numéro 53/2, 2020, Page(s) 6555-6562, ISSN 2405-8963
Éditeur: Elsevier
DOI: 10.1016/j.ifacol.2020.12.072

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

Auteurs: Nico Mansfeld, Manuel Keppler, Sami Haddadin
Publié dans: IEEE Robotics and Automation Letters, Numéro 6/3, 2021, Page(s) 4600-4607, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3068698

Enabling Flow Awareness for Mobile Robots in Partially Observable Environments

Auteurs: Tomasz Piotr Kucner, Martin Magnusson, Erik Schaffernicht, Victor Hernandez Bennetts, Achim J. Lilienthal
Publié dans: IEEE Robotics and Automation Letters, Numéro 2/2, 2017, Page(s) 1093-1100, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2017.2660060

Learning to detect misaligned point clouds

Auteurs: Håkan Almqvist, Martin Magnusson, Tomasz P. Kucner, Achim J. Lilienthal
Publié dans: Journal of Field Robotics, 2017, ISSN 1556-4959
Éditeur: John Wiley & Sons Ltd.
DOI: 10.1002/rob.21768

Deep Person Detection in Two-Dimensional Range Data

Auteurs: Lucas Beyer, Alexander Hermans, Timm Linder, Kai O. Arras, Bastian Leibe
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/3, 2018, Page(s) 2726-2733, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2018.2835510

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

Auteurs: Nico Mansfeld, Mazin Hamad, Marvin Becker, Antonio Gonzales Marin, Sami Haddadin
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/3, 2018, Page(s) 1880-1887, ISSN 2377-3766
Éditeur: IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2018.2801477

2D map alignment with region decomposition

Auteurs: Saeed Gholami Shahbandi, Martin Magnusson
Publié dans: Autonomous Robots, 2018, ISSN 0929-5593
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10514-018-9785-7

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

Auteurs: Saeed Gholami Shahbandi, Martin Magnusson, Karl Iagnemma
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/3, 2018, Page(s) 2040-2047, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2018.2806439

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

Auteurs: L. Kunze, N. Hawes, T. Duckett, M. Hanheide
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/4, 2018, Page(s) 4431-4434, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2018.2870466

Artificial Intelligence for Long-Term Robot Autonomy: A Survey

Auteurs: Lars Kunze, Nick Hawes, Tom Duckett, Marc Hanheide, Tomas Krajnik
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/4, 2018, Page(s) 4023-4030, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2018.2860628

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

Auteurs: Li Sun, Zhi Yan, Anestis Zaganidis, Cheng Zhao, Tom Duckett
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/4, 2018, Page(s) 3749-3756, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2018.2856268

Integrating Deep Semantic Segmentation Into 3-D Point Cloud Registration

Auteurs: Anestis Zaganidis, Li Sun, Tom Duckett, Grzegorz Cielniak
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/4, 2018, Page(s) 2942-2949, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2018.2848308

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

Auteurs: Cheng Zhao, Li Sun, Pulak Purkait, Tom Duckett, Rustam Stolkin
Publié dans: Sensors, Numéro 18/9, 2018, Page(s) 3099, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s18093099

ursim: Unique Regions for Sketch map Interpretation and Matching

Auteurs: Malcolm Mielle, Martin Magnusson, Achim J. Lilienthal
Publié dans: Robotics, Numéro 8/2, 2019, Page(s) 43, ISSN 2218-6581
Éditeur: Robotics
DOI: 10.3390/robotics8020043

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

Auteurs: Malcolm Mielle, Martin Magnusson, Achim J. Lilienthal
Publié dans: Robotics, Numéro 8/2, 2019, Page(s) 40, ISSN 2218-6581
Éditeur: Robotics
DOI: 10.3390/robotics8020040

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

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

Deconfliction of Motion Paths With Traffic Inspired Rules

Auteurs: Federico Celi, Li Wang, Lucia Pallottino, Magnus Egerstedt
Publié dans: IEEE Robotics and Automation Letters, Numéro 4/2, 2019, Page(s) 2227-2234, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2019.2899932

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

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

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

Auteurs: Rudenko, Andrey; Palmieri, Luigi; Doellinger, Johannes; Lilienthal, Achim J.; Arras, Kai O.
Publié dans: IEEE Robotics and Automation Letters, Numéro 1, 2021, ISSN 2377-3766
Éditeur: IEEE

WRAPP-Up: A Dual-Arm Robot for Intralogistics

Auteurs: Manolo Garabini, Danilo Caporale, Vinicio Tincani, Alessandro Palleschi, Chiara Gabellieri, Marco Gugliotta, Alessandro Settimi, Manuel Giuseppe Catalano, Giorgio Grioli, Lucia Pallottino
Publié dans: IEEE Robotics & Automation Magazine, 2020, Page(s) 0-0, ISSN 1070-9932
Éditeur: 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

Auteurs: Ravi Teja Chadalavada, Henrik Andreasson, Maike Schindler, Rainer Palm, Achim J. Lilienthal
Publié dans: Robotics and Computer-Integrated Manufacturing, Numéro 61, 2020, Page(s) 101830, ISSN 0736-5845
Éditeur: 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

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

Human Motion Trajectory Prediction: A Survey

Auteurs: Rudenko, Andrey; Palmieri, Luigi; Herman, Michael; Kitani, Kris M.; Gavrila, D.; Arras, Kai O.
Publié dans: urn:issn:0278-3649, Numéro 7, 2020, ISSN 1741-3176
Éditeur: SAGE

Calibrating Range Measurements of Lidars Using Fixed Landmarks in Unknown Positions

Auteurs: Anas Alhashimi, Martin Magnusson, Steffi Knorn, Damiano Varagnolo
Publié dans: Sensors, Numéro 21/1, 2021, Page(s) 155, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21010155

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

Auteurs: Dinh-Cuong Hoang, Achim J. Lilienthal, Todor Stoyanov
Publié dans: IEEE Robotics and Automation Letters, Numéro 5/2, 2020, Page(s) 1962-1969, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2020.2970682

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

Auteurs: Bartolomeo Della Corte, Henrik Andreasson, Todor Stoyanov, Giorgio Grisetti
Publié dans: IEEE Robotics and Automation Letters, Numéro 4/2, 2019, Page(s) 902-909, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2019.2892992

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

Auteurs: Sárándi, István; Linder, Timm; Arras, Kai O.; Leibe, Bastian
Publié dans: Numéro 1, 2018
Éditeur: European Conference on Computer Vision (Workshops)

Deep Person Detection in 2D Range Data

Auteurs: Beyer, Lucas; Hermans, Alexander; Linder, Timm; Arras, Kai O.; Leibe, Bastian
Publié dans: IEEE Robotics and Automation Letters 3.3, Numéro 1, 2018
Éditeur: IEEE

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

Auteurs: Alessandro Settimi and Lucia Pallottino.
Publié dans: 2018
Éditeur: IEEE

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

Auteurs: WeiWei Feng.
Publié dans: 2017
Éditeur: Örebro University,

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

Auteurs: Zhicheng Zhou; Zhao, Cheng; Adolfsson, Daniel; Songzhi Su; Gao, Yang; Duckett, Tom; Sun, Li
Publié dans: Numéro 1, 2021
Éditeur: ArXiv
DOI: 10.13140/rg.2.2.28949.04325

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

Auteurs: Dinh-Cuong Hoang, Todor Stoyanov, and Achim J Lilienthal.
Publié dans: 2019
Éditeur: Arxiv

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

Auteurs: Sergio Molina Mellado
Publié dans: 2021
Éditeur: University of Lincoln

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

Auteurs: Timm Linder.
Publié dans: 2020
Éditeur: Department of Com-puter Science, Albert-Ludwigs-Universität Freiburg, 2020
DOI: 10.6094/unifr/193591

Making the Case for Human-Aware Navigation in Warehouses

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

Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots

Auteurs: Tomasz Piotr Kucner, Achim J. Lilienthal, Martin Magnusson, Luigi Palmieri, Chittaranjan Srinivas Swaminathan
Publié dans: 2020, ISBN 978-3-030-41808-3
Éditeur: Springer
DOI: 10.1007/978-3-030-41808-3

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