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Intelligent Mobile RoboticsCzech Technical University in Prague
Libor Přeučile-mail: [email protected]
The Gerstner Lab for Intelligent Decision MakingDepartment of Cybernetics,
Faculty of Electrical Engineering,Czech Technical University in Prague
Intelligent Mobile Robotics at CTU, Challenges, Achievements and Applications
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Presentation outline
Intelligent Mobile Robotics Division, activity targeting
Core R&D technologies available
Hybrid human-robot systems, applications in rescue missionsAutonomous exploration and mapping solutionsCollective and cooperative robotics, formation control Technology for autonomous control of UGVs and UAVsRobot autonomy for outdoor environmentsPlanning and scheduling for pro robotics
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Intelligent Mobile Robotics division
History, since 1993 9 research fellows (5 Ph.D. degree) 4 Ph.D. students 5-10 ordinary students
R&D and other activities targeting: Basic and applied researchCooperations with industriesTeaching Masters/Ph.D. courses
European Framework Programs, Networks of Excellence (Future and Emerging Technologies, Cognitive Systems)SW development and prototyping for safety-critical applicationsTraining robotics (courses) over IP
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Hybrid human-robot systems
Technology for building next generation telematic systems (mixed human-robot teams). Allows mutual substitution of participating entities – leads to performance boosting Core application field in search and rescue, exploration and inspection missions. Concept design verified within FET IST Projekt PeLoTe, http://labe.felk.cvut.cz/~pelote)
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Autonomous exploration and mapping
Autonomous environment exploration builds spatial knowledge.Represents backbone task for robot autonomous navigationMay be designed for robot knowledge sharing with human entities Applications:
Autonomous robot operation in real environmentsAutonomous surveillance, inspection and transportations systems
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Cooperative robotics
Coordination and cooperation of multiple robots allows flexible/more efficient performance and resource usageDistributed solution without unique control centre (robust to failures)System runtime adaptation to task solution statusScalable systemsApplications:
Multirobot exploration and surveillanceRobot formation control, convoying
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Autonomous control of UGVs and UAVs
Visual navigation UAVs and UGVs making use of passive sensing (vision)
Real time processing, extremely robust solution to lighting conditions and environmental variations
Real indoor and outdoor environments capable
No navigation infrastructure needed
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Robot autonomy for outdoor environments
LARGEMAPS technology for representation of extremely large and sparse environmentsDeveloped for robot operation primarily in outdoor environmentsReady to handle incomplete information, capable of reasoning about the environmentApplication in autonomous control/navigation of UGVs/UAVs, (autonomous exploration, inspection and surveillance tasks)
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Planing and scheduling for robotics
Technology for: Robot control along collision-free
trajectories Activity scheduling and optimization in
robot groups Mission control (operator support)
These tasks exhibit many constrains and high computational complexity.
Novel methods providing acceptable approximate solutions of NP complete (nonsolvable) tasks.
Random Sampling planning Watchman Route Problem and
(Multiple)Traveling Salesman Problem for scheduling
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Intelligent Mobile Robotics Czech Technical University in Prague
More at: http://imr.felk.cvut.cz
Contact: [email protected]
Thank you …
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