Inte lligent Mobile Robotics Czech Technical University in Prague

1. Intelligent Mobile RoboticsCzech Technical University in Prague Intelligent Mobile Robotics at CTU, Challenges, Achievements and Applications Libor Přeučil e-mail: preucil@labe.felk.cvut.cz The Gerstner Lab for Intelligent Decision Making Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague

2. Presentation outline • Intelligent Mobile Robotics Division, activity targeting • Core R&D technologies available • Hybrid human-robot systems, applications in rescue missions • Autonomous exploration and mapping solutions • Collective and cooperative robotics, formation control • Technology for autonomous control of UGVs and UAVs • Robot autonomy for outdoor environments • Planning and scheduling for pro robotics

3. 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 research • Cooperations with industries • Teaching Masters/Ph.D. courses • European Framework Programs, Networks of Excellence(Future and Emerging Technologies, Cognitive Systems) • SW development and prototyping for safety-critical applications • Training robotics (courses) over IP

4. Hybrid human-robot systems • Technology for building next generation telematicsystems (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 verifiedwithinFET IST Projekt PeLoTe, http://labe.felk.cvut.cz/~pelote)

5. Autonomous exploration and mapping • Autonomous environment exploration builds spatial knowledge. • Represents backbone task for robot autonomous navigation • May be designed for robot knowledge sharing with human entities • Applications: • Autonomous robot operation in real environments • Autonomous surveillance, inspection and transportations systems

6. Cooperativerobotics • Coordination and cooperation of multiple robots allows flexible/more efficient performance and resource usage • Distributed solution without unique control centre (robust to failures) • System runtime adaptation to task solution status • Scalable systems • Applications: • Multirobot exploration and surveillance • Robot formation control, convoying

7. Autonomous control of UGVs and UAVs Visual navigation UAVs and UGVsmaking 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

8. Robot autonomy for outdoor environments LARGEMAPStechnology for representation of extremely large and sparse environments Developed for robot operation primarily in outdoor environments Ready to handle incomplete information, capable of reasoning about the environment Application in autonomous control/navigation of UGVs/UAVs, (autonomous exploration, inspection and surveillance tasks)

9. 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 • WatchmanRouteProblem and (Multiple)Traveling SalesmanProblemfor scheduling

10. More at: http://imr.felk.cvut.cz Contact: preucil@labe.felk.cvut.cz Intelligent Mobile Robotics Czech Technical University in Prague Thank you … ? Questions