Rezultaty
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 systemAn 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-LogisticsThe 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 intentReports 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 vehiclesReport 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 palletisingReport 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-LogisticsThe 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 coordinationReport 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 environmentsThe 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 systemThis 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 systemsThis 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 casesThis 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 planningIn 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.
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 NCFMThe 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 ORUThe 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.
ILIAD flyerILIAD flyer.
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.
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2021
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Arxiv
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2021
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Timm Linder.
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2020
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2020, ISBN 978-3-030-41808-3
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Prawa własności intelektualnej
Numer wniosku/publikacji:
19
174326
Data:
2019-05-14
Numer wniosku/publikacji:
20
19061339
Data:
2019-05-03
Numer wniosku/publikacji:
19
176506
Data:
2019-05-24
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