|Autonomous systems and unmanned aerial vehicles (UAVs), can play an important role in many applications including disaster management, and the monitoring and measurement of events, such as the volcano ash cloud of April 2010. Currently, many missions cannot be accomplished or involve a high level of risk for the people involved (pilots and drivers), as unmanned vehicles are not available or not permitted. This also applies to search and rescue missions, particularly in stormy conditions, where pilots need to risk their lives. These missions could be performed or facilitated by using autonomous helicopters with accurate positioning and the ability to land on mobile platforms such as ship decks. These applications strongly depend on the UAV reliability to react in a predictable and controllable manner in spite of perturbations, such as wind gusts. On the other hand, the cooperation, coordination and traffic control of many mobile entities are relevant issues for applications such as automation of industrial warehousing, surveillance by using aerial and ground vehicles, and transportation systems. EC-SAFEMOBIL is devoted to the development of sufficiently accurate common motion estimation and control methods and technologies in order to reach levels of reliability and safety to facilitate unmanned vehicle deployment in a broad range of applications. It also includes the development of a secure architecture and the middleware to support the implementation. Two different kind of applications are included in the project:
UPO’s team is involved through a subcontracting, dealing with the development of multi-vehicle planning under uncertainties and decentralized data fusion algorithms, leaded by Luis Merino. In addition, we developed novel strategies for automatic control of rotary-wing helicopters in landing operations. This work was leaded by Manuel Béjar.
|FROG proposes to develop a guide robot with a winning personality and behaviours that will engage tourists in a fun exploration of outdoor attractions. The work encompasses innovation in the areas of vision-based detection, robotics design and navigation, human-robot interaction, affective computing, intelligent agent architecture and dependable autonomous outdoor robot operation.The FROG robots fun personality and social visitor-guide behaviours aim to enhance the user experience. FROGs behaviours will be designed based on the findings of systematic social behavioural studies of human interaction with robots. FROG adapts its behaviour to the users through vision-based detection of human engagement and interest. Interactive augmented reality overlay capabilities in the body of the robot will enhance the visitors experience and increase knowledge transfer as information is offered through multi-sensory interaction. Gesture detection capabilities further allow the visitors to manipulate the augmented reality interface to explore specific interests.
The is a unique project in respect to Human Robot Interaction in that it considers the development of a robot’s personality and behaviours to engage the users and optimise the user experience. We will design and develop those robot behaviour’s that complement a guide robot’s personality so that users experience and engage with the robot truly as a guide.
We lead WP2 within FROG, dealing with robot localization and social navigation. We are developing algorithms for robust localization and navigation in outdoors scenarios. Furthermore, we are working on models and tools for social navigation.
|The vision of Cooperating Objects is relatively new and needs to be understood in more detail and extended with inputs from the relevant individual communities that compose it. This will enable us to better understand the impact on the research landscape and to steer the available resources in a meaningful way.The main goal of CONET is to build a strong community in the area of Cooperating Objects capable of conducting the needed research to achieve the vision of Mark Weiser.
Therefore, the CONET Project Objectives are the following:
Within this project, we are working on the research cluster on Mobility of Cooperating Objects, mainly in the tasks of multi-robot planning under uncertainty and aerial objects coordination and control.
URUS: Ubiquitous networking Robotics in Urban Settings
|The URUS project focussed in designing a network of robots that in a cooperative way interact with human beings and the environment for tasks of assistance, transportation of goods, and surveillance in urban areas. Specifically, the objective of the project was to design and develop a cognitive network robot architecture that integrates cooperating urban robots, intelligent sensors, intelligent devices and communications.Among the specific technology that has been developed in the project, it can be found: navigation coordination; cooperative perception; cooperative map building; task negotiation; human robot interaction; and wireless communication strategies between users (mobile phones), the environment (cameras), and the robots. Moreover, in order to make easy the tasks in the urban environment, commercial platforms that have been specifically designed to navigate and assist humans in such urban settings will be given autonomous mobility capabilities.
Proof-of concept tests of the systems developed took place in the UPC campus, a car free area of Barcelona.
The participation of the UPO in the project was two-fold. In one hand, we developed the navigation algorithms for our robot Romeo, to allow it to navigate safely in a pedestrian environment.
On the other hand, we participated in the development of a decentralized fusion system for collaborative person tracking and estimation using all the elements of the system (robots, camera network and sensor network).
|The main objective of COMETS is to design and implement a distributed control system for cooperative activities using heterogeneous Unmanned Aerial Vehicles (UAVs). Particularly, both helicopters and airships are included.Technologies involved in COMETS Project:
A key aspect in this project is the experimentation: local UAV experiments and general multi-UAV demonstrations.
Fernando Caballero and Luis Merino were directly involved in the project.