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Building Presence through Localization for Hybrid Telematic Systems PeLoTe

Building Presence through Localization for Hybrid Telematic Systems PeLoTe. The Consortium. Contact person: Libor Preucil, preucil@labe.felk.cvut.cz Project duration: 30 months (till March, 2005) Consortium partners:

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Building Presence through Localization for Hybrid Telematic Systems PeLoTe

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  1. Building Presence through Localization for Hybrid Telematic Systems PeLoTe

  2. The Consortium • Contact person: Libor Preucil, preucil@labe.felk.cvut.cz • Project duration: 30 months (till March, 2005) • Consortium partners: • Czech Technical University in Prague, The Gerstner Laboratory, CZ (Dr. L. Preucil) – project coordinator • Julius Maxmilian University Wuerzburg, DE (Prof. Dr. K. Schilling) • Helsinki University of Technology, Automation Technology Laboratory, FIN (Prof. Dr. A. Halme) • CertiCon, a.s., CZ (Dr. T. Vlcek) • ARS Steinbeis Technology Transfer Center, DE (Prof. Dr. H. Roth)

  3. Core Goals • To create and share presence feature for both living and nonliving entities through localization • To integrate humans and robots in a telematic task • To set up cooperation and coordination of the both types of entities • To evaluate the application potential (telerobotics, telepresence and tele-diagnosis systems), test-bed development

  4. Hybrid Telematic Task Setup

  5. Workplan • Introduction of novel principles to combination of teleoperated robots and human actors • Design and verification of telepresence methods (mainly navigation and mapping) for both human and robotic systems • Investigation and development of personal navigation systems (PeNa) • Design ad development of man-machine-man interfacing concepts • Novel approaches in simultaneous localization and mapping (SLaM) • Cooperation and planning concepts for telepresence discovery amongst human and robotic entities • Overall validation and evaluation of the designed principles (ReSquad experiment)

  6. Personal Navigation – PeNa • Buildup of a unique PeNa “backpack” HW for inertial navigation (independent of the external support) • New algorithms for human localization

  7. Telematic Application Tracked and wheeled experimental robots, remote control and teleoperation

  8. Ideal trajectory Trajectory with errors Walls Corrections Beacons Cooperation and Data Sharing forMultiple Telematic Entities

  9. Applied Telematic Planning • Basic version of cooperative planning implemented • Optimization of the algorithm (Shortest Path Map structure) almost implemented • Comparison to other techniques (genetic algorithms, ant-colony optimization) • Generalization • Entities with different motion speeds • Accessibility constraints for selected entities

  10. User Interface • Development of GUI prototype • Testing of GUI withrescue experts • Definition of test scenarios and evaluation criteria

  11. Future Plans • Phase of implementation and technology integration, test-case preparation, towards a search & rescue type of experiment in real environments (2 robots + 1 human). • More PRESENCE measurement (psychological aspects vs. technical approach) • Continuation of the PeLoTe research track? • Exploitation of the research results? (the whole PeLoTe system in search & rescue applications, entertainment, etc. or reuse of particular subsystems, PeNa, sensor fusion, SRM….)

  12. Thank you for your attention!

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