CRAS members were quite successful in publishing latest results.
- Lukáš Chrpa, Jose Pinto, Tiago Sa Marques, Manuel A. Ribeiro, Joao Sousa: Mixed-Initiative Planning, Replanning and Execution: From Concept to Field Testing using AUV Fleets
- Jan Faigl, Robert Pěnička: On Close Enough Orienteering Problem with Dubins Vehicle
- Petr Čížek, Diar Masri, Jan Faigl: Foothold Placement Planning with a Hexapod Crawling Robot
- Martin Pecka, Karel Zimmermann, Tomáš Svoboda. Fast Simulation of Vehicles with Non-deformable Tracks. arXiv PDF
We also got an oral presentation at ICCV2017, arguably the most prestigious computer vision conference: K. Zimmermann, T. Petricek, V. Salansky, T. Svoboda. Learning for Active 3D Mapping. arXiv PDF, DemoVideo.
We also have a few new journal publications:
Karel Zimmermann successfully defended his habilitation thesis if front of the scientific council of the Faculty on May 10, and became Associate Professor.
Our team (also Uni Lincoln and UPenn involved) led by Martin Saska won the Mohamed Bin Zayed International Robotic Challenge (MBZIRC) – Challenge 3 that required a team of UAVs to collaborate to search, locate, track, pick and place a set of static and moving objects. The team also took 2nd place in Challenge 1 – landing on a moving platform and 3rd in the Grand Challenge – after joining University of Padua.
A more detailed story in Czech; with more photos. Czech TV news
CRAS members were very successful in securing new funding from the Czech Science Foundation. The following three-years projects start 01/2017:
- K. Zimmermann. Robust motion planning and control on rough unstructured terrain.
- M. Hoffmann. Robot self-calibration and safe physical human-robot interaction inspired by body representations in primate brains
- M. Saska. Stabilization and control of teams of relatively-localized micro aerial vehicles in high obstacle density areas
- M. Saska. Methods of Identification and Visualization of Tunnels for Flexible Ligands in Dynamic Proteins
- T. Krajník: Spatio-temporal representations for lifelong mobile robot navigation
CS Seminar series – 14:00, Friday, 12.02.2015, Room KN:E-2015
Tom Krajnik, University of Lincoln, UK
While robotic mapping of static environments has been widely studied, long-term mapping in non-stationary environments is still an open problem. In this talk, we present an approach for long-term representation of populated environments, where many of the observed changes are caused by humans performing their daily activities. We propose to model the environment’s dynamics by its frequency spectrum, as a combination of harmonic functions that correspond to periodic processes influencing the environment.
Such a representation not only allows representation of environment dynamics over arbitrary time-scales with constant memory requirements, but also prediction of future environment states and anomaly detection. The main advantage of the proposed approach is its universality – it can extend most of the environment models used in mobile robotics.
The proposed approach is applied to several environment representations created by a mobile robot autonomously patrolling indoor environments for several months. In particular, we apply the approach to occupancy grids, feature-based representations and topological maps and show that the approach can represent billions of observations with a few spectral components achieving compression rates up to 1:100000, significantly improves localization robustness in dynamic environments, allows for more efficient path planning, speeds-up tasks like object search or activity classification, and allows to perform 4D spatio-temporal exploration.
More details about FreMEn
got funding. Enable-S3 is an acronym for European Initiative to Enable Validation for Highly Automated Safe and Secure Systems. Tomas Svoboda is the PI of the CTU part. We will closely collaborate with ValeoCZ working on boosting rare data into the learning and testing
A new project funded by Czech Science Foundations has been awarded to Jan Faigl a member of CRAS. This basic research project for 2016-2018 aims to investigate properties of efficient solutions for information gathering with non-holonomic vehicles in problems motivated by persitent monitoring and surveillance missions.
Tue 01.12.2015 11:00 KN:E-112, Abstract