R3-COP: Robust & Safe Mobile Co-operative Autonomous Systems

Czech title

Robust & Safe Mobile Co-operative Autonomous Systems

Type

grant

Keywords

robotics, embedded systems

Abstract

Safe and robust autonomous systems are one of the - if not the - most important instantiation of
embedded systems in middle-range future, simply because the application domains are extremely
manifold, from transportation over manufacturing to farming, surveillance (in-door, land, air, and sea)
to care as well as entertainment. Consequently, at the ARTEMIS SummerCamp 2009, the Strategy
Group identified "Autonomous Systems" as one of the targets of the next ARTEMIS SRA.
However, today a large number of different approaches and platforms exist, rendering an economic
realisation of such systems currently unrealistic (perhaps besides the manufacturing domain, where
robots are already industrially exploited). Simultaneously, as such systems increasingly share
environment - and even closely cooperate - with humans, there is an urgent need for providing any
possible means and measures to assert and guarantee their dependability, in particular safety and
robustness. While a huge log of analysing and testing strategies and methods for conventional systems
exist, these are of limited value for mobile autonomous systems with complex sensors and behaviour.
Hence, R3-COP will progress autonomous systems in two directions: technology and methodology.
Technology: R3-COP will develop a fault-tolerant high-performance processing platform, based on a
multi-core architecture, as well as innovative system components for robust perception of the
environment including sensor fusion, and for reasoning and reliable action control. Energy-efficient
drivetrains will also be considered.
Methodology: a methodology-based development framework will enable economic development of
reference platforms for various robotic application domains as well as dedicated solutions. A tool
platform will allow for guarded application of the design methodology, including new test strategies
and tools.
The outcomes will be applied in a series of demonstrators from ground-based, airborne and
underwater domains.

Team members

Smrž Pavel, doc. RNDr., Ph.D. (UPGM FIT VUT) , research leader
Beran Vítězslav, doc. Ing., Ph.D. (UPGM FIT VUT) , team leader
Baizid Khelifa (UPGM FIT VUT)
Ila Viorela S., Ing., Ph.D. (UPGM FIT VUT)
Rozman Jaroslav, Ing., Ph.D. (UITS FIT VUT)
Šolony Marek, Ing., PhD. (UPGM FIT VUT)
Zemčík Pavel, prof. Dr. Ing. (UPGM FIT VUT)

Publications

2013

POLOK Lukáš, ILA Viorela S. and SMRŽ Pavel. Cache Efficient Implementation for Block Matrix Operations. In: Proceedings of the 21st High Performance Computing Symposium (HPC'13). San Diego: Association for Computing Machinery, 2013, pp. 698-706. ISBN 1-56555-350-0. Detail
HULÍK Rostislav, ŠPANĚL Michal, MATERNA Zdeněk and SMRŽ Pavel. Continuous Plane Detection in Point-cloud Data Based on 3D Hough Transform. Journal of Visual Communication and Image Representation, vol. 25, no. 1, 2013, pp. 86-97. ISSN 1047-3203. Detail
POLOK Lukáš, ILA Viorela S., ŠOLONY Marek, ZEMČÍK Pavel and SMRŽ Pavel. Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications. In: Proceedings of 2013 IEEE International Conference on Robotics and Automation. Karlsruhe: IEEE Computer Society, 2013, pp. 123-131. ISBN 978-1-4673-5642-8. Detail
ILA Viorela S., POLOK Lukáš, SMRŽ Pavel, ŠOLONY Marek and ZEMČÍK Pavel. Incremental Cholesky Factorization for Least Squares Problems in Robotics. In: Proceedings of The 2013 IFAC Intelligent Autonomous Vehicles Symposium. Gold Coast: IEEE Computer Society, 2013, pp. 1-8. ISBN 978-3-902823-36-6. Detail
KUČIŠ Michal, ZEMČÍK Pavel, ZENDEL Oliver and HERZNER Wolfgang. Overview of Simulation of Video-Camera Effects for Robotic Systems in R3-COP. In: Computer Safety, Reliability, and Security - 32nd International Conference. Toulouse: Springer Science+Business Media B.V., 2013, pp. 1-8. ISBN 2-907801-09-0. Detail

2012

NAVRÁTIL Jan, KOBRTEK Jozef and ZEMČÍK Pavel. A Survey on Methods for Omnidirectional Shadow Rendering. Journal of WSCG, vol. 20, no. 2, 2012, pp. 89-96. ISSN 1213-6972. Detail
ROZMAN Jaroslav. Proceedings of CSE 2012 International Scientific Conference on Computer Science and Engeneering. In: Proceedings of CSE 2012 International Scientific Conference on Computer Science and Engeneering. Košice: The University of Technology Košice, 2012, pp. 1-10. ISBN 978-80-8143-049-7. Detail
HULÍK Rostislav and KRŠEK Přemysl. Local Projections Method and Curvature Approximation on 3D Polygonal Models. In: Communications proceedings of WSCG. June 25-28, 2012. Plzen: Department of Computer Graphics and Multimedia FIT BUT, 2012, pp. 223-230. ISBN 978-80-86943-79-4. Detail
LUŽA Radim, ROZMAN Jaroslav and ZBOŘIL František V. Robotic Arm Controlling in ROS Environment. In: CSSim. Brno: Brno University of Technology, 2012, pp. 61-66. ISBN 978-80-214-4576-5. Detail
KUČIŠ Michal and ZEMČÍK Pavel. Simulation of Camera Features. In: Proceedings of the 16th Central European Seminar on Computer Graphics. Smolenice: Technical University Wien, 2012, pp. 117-123. ISBN 978-3-9502533-4-4. Detail
SCHOITSCH Erwin, HERZNER Wolfgang, ALONSO-MONTES Carmen, CHMELAŘ Petr and DALGAARD Lars. Towards Composable Robotics: The R3-COP Knowledge-Base Driven Technology Platform. In: Computer Safety, Reliability, and Security (2012). LNCS. Magdeburg: Springer Verlag, 2012, pp. 427-435. ISBN 978-3-642-33674-4. ISSN 0302-9743. Detail

2011

ZEMČÍK Pavel, MARŠÍK Lukáš, ŠIROKÝ Vít, FUČÍK Otto, KORČEK Pavol and ŠUSTEK Jiří. AX32 Low Power Embedded Video Enabled System Using FPGA. In: Proceedings of the 21th Conference on Field Programmable Logic and Applications Workshop. Chania: Institute of Electrical and Electronics Engineers, 2011, p. 2. ISBN 978-0-7695-4529-5. Detail
ŠOLONY Marek, ŽÁK Pavel, BERAN Vítězslav and ŠPANĚL Michal. CAMERA LOCALIZATION USING INCOMPLETE CHESSBOARD PATTERN. In: VISAPP 2011 - Proceedings of the International Conference on Computer Vision Theory and Application. Algarve: Institute for Systems and Technologies of Information, Control and Communication, 2011, pp. 415-418. ISBN 978-989-8425-47-8. Detail
MARŠÍK Lukáš. Embedded Radar Signal Processing. In: Proceedings of the 17th Conference STUDENT EEICT 2011. Volume 3. Brno: Brno University of Technology, 2011, pp. 113-117. ISBN 978-80-214-4273-3. Detail
SCHAFFROTH Patrick and SVOBODA Pavel. Fast corner point detection through machine learning. In: Proceedings of the 17th Conference STUDENT EEICT 2011. Volume 3. Brno: Brno University of Technology, 2011, pp. 537-541. ISBN 978-80-214-4273-3. Detail

2010

HRADIŠ Michal, BERAN Vítězslav, ŘEZNÍČEK Ivo, HEROUT Adam, BAŘINA David, VLČEK Adam and ZEMČÍK Pavel. Brno University of Technology at TRECVid 2010. In: 2010 TREC Video Retrieval Evaluation Notebook Papers. Gaithersburg, MD: National Institute of Standards and Technology, 2010, pp. 1-10. Detail

Products

2013

Open Graphics Post-Processing, software, 2013
Authors: Kučiš Michal, Zemčík Pavel Detail

2012

Obstacle avoidance module for robotic systems, software, 2012
Authors: Rozman Jaroslav, Luža Radim, Baizid Khelifa, Beran Vítězslav Detail
R3-COP Knowledge Base, software, 2012
Authors: Chmelař Petr, Dalgaard Lars, Smrž Pavel, Zemčík Pavel Detail
Simulator of Camera Features, software, 2012
Authors: Kučiš Michal, Zemčík Pavel Detail

2010

3D model reconstruction from point clouds, software, 2010
Authors: Hulík Rostislav, Španěl Michal Detail
Automatic robot localization based on visual and range sensors, software, 2010
Authors: Šolony Marek Detail
Obstacle detector for robotic systems based on visual and range sensor fusion, software, 2010
Authors: Svoboda Pavel, Beran Vítězslav Detail
Recording system of robotic data for several synchronized sensors, software, 2010
Authors: Šolony Marek, Maršík Lukáš Detail