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Consortium:

The Institute of Automatic Control Engineering is part of the Technische Universität München. Main work pack-ages include the development of localization and mapping, navigation and path planning and system integra-tion.

The Computer Vision Laboratory (CVL), based at the Department of Informa-tion Technology and Electrical Engi-neering of the Eidgenössische Tech-nische Hochschule Zürich are develop-ing the robot’s vision system and object and gesture recognition.

The Human-Computer Interaction & Usability Unit of the ICT&S Center at Universität Salzburg deals with ques-tions related to design, development and evaluation of the Human-Robot Interaction in the IURO project.

The speech group at the Department of Speech, Music and Hearing of the Swedish Royal Institute of Technology is engaged in designing semantic models for route representation and strategies for the spoken language dialogue system.

ACCREA Engineering was established in 2007 as a spin-o� company of TUM. ACCREA is developing the general design of the robot and the mobile platform.

The IURO project is supported by the 7th Framework Programme of the European Union, ICT Challenge 2

Cognitive Systems and Robotics, contract number 248317.

www.iuro-project.eu Technische Universität München

Eidgenössische Technische Hochschule Zürich

Universität Salzburg

Royal Institute of Technology Stockholm

ACCREA Engineering

Coordinators: Prof. Martin Buss Dr. Dirk Wollherr Dr. Kolja Kühnlenz Andreas Schweinberger (Project Manager) Contact: Institute of Automatic Control Engineering (LSR) TU München 80290 München - Germany Tel. +49 (0)89 289 28395 lsr@ei.tum.de

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Core Objectives in the IURO Project:

• advanced internal representation of dynamic urban environments

• semantic scene segmentation and understanding

• navigation in dynamic environments

• retrieval of missing information from humans in multimodal dialogs

• fusion of gesture recognition and spoken language dialog

• identification of knowledge gaps arising from dynamically changing situations and contexts not specified a priori

• disambiguation of multiple route descriptions using linguistic know-ledge

• initiation of dialog by pro-actively approaching passers-by

• obstacle detection and tracking

Project Description

In general, interactive robots provide people with information they need or want to have - users address the robot and know what information to expect from it.

For IURO, we invert the perspective: The robot’s mission is to find a certain destination in an urban area and to fulfill a given task there, whereafter it returns to its starting point. Without a-priori route information or a map and neither GPS nor internet connection, the robot has to rely on information gained in interaction with humans to reach its objective.

Like humans, robots operating independently in everyday scenarios will have to rely on proactive communication in case their available knowledge is incomplete. They will need to know how to address people, how to engage in a conversation, how to establish a feeling of trust and comfort, how to ask the right questions, and how to inter-pret the obtained hints and cues correctly.

Multimodal head for emotion display

Natural language understanding and generation for spoken dialogue

Tilted laser sensor for negative obstacle detection

Laser sensor for navigation and mapping

Modified wheelchair platform for navigation

Batteries for autonomous operation

Stereo vision for object detection and visual navigation

Our vision is to build a robot that autono-mously finds its way to a given goal, person or item in a quickly chang-ing environment, employing proactive communication with passers-by.

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