Seminar Roboternavigation

Prof. Dr. Sven Behnke, Dipl. Inf. Jörg Stückler

Blockseminar am 25. Juli 2008 ab 10 Uhr c.t. im Seminarraum N-907

Eine Hauptkomponente jedes autonomen mobilen Roboters ist dessen Navigationssystem. Um sich zielgerichtet in ihren Umgebung bewegen zu können, müssen Roboter diese geeignet repräsentieren, z.B. durch topologische oder metrische Karten. Sie müssen sich in diesen Karten mittels sensorischer Informationen lokalisieren. Durch Pfadplanung werden geeignete Aktionssequenzen bestimmt, um zu einem Ziel zu gelangen. Während der Abarbeitung des Pfades müssen Hindernisse vermieden werden. 

Im Seminar werden aktuelle Arbeiten aus dem Bereich Roboternavigation vorgestellt.

Themen:

• 10:15-11:00 Orthogonal SLAM [Marie Christ] (Behnke)
  • V. Nguyen, A. Harati, N. Tomatis,  A. Martinelli, and R. Siegwart:
    Orthogonal SLAM: a Step toward Lightweight Indoor Autonomous Navigation.
    In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems (IROS), Beijing, China, 2006.
  • V. Nguyen, A. Harati, and R. Siegwart:
    A Lightweight SLAM Algorithm using Orthogonal Planes for Indoor Mobile Robotics.
    In Proceedings of the IEEE/RSJ Intenational Conference on Intelligent Robots and Systems (IROS), Dan Diego, CA, 2007.
    
    
• 11:00-11:45 Learning to Improve Exploration Trajectories [Markus Gernhards] (Behnke)
  
  • T. Kollar and N. Roy:
    Using Reinforcement Learning to Improve Exploration Trajectories for Error Minimization.
    In Proc. of ICRA 2006.
    
    
• 12:00-12:45 Attractor-based Movement Optimization [Oliver Tischler] (Stückler)
• Marc Toussaint, Michael Gienger, and Christian Goerick:
  Optimization of sequential attractor-based movement for compact behaviour generation.
  In Proc. of Humanoids 2007.
  
  
• Reactive Deformation Roadmaps
• R. Gayle, A. Sud, M.C. Lin, and D. Manocha:
  Reactive Deformation Roadmaps: Motion Planning of Multiple Robots in Dynamic Environments.
  In Proc. of IROS 2007.
  
• Gaussian Beam Processes
• C. Plagemann, K. Kersting, P. Pfaff, and W. Burgard:
  Gaussian Beam Processes: A Nonparametric Bayesian Measurement Model for Range Finders.
  In Proc. of Robotics: Science and Systems, 2007.
  
  
• Discriminative Particle Filters
• Benson Limketkai, Dieter Fox, and Lin Liaot:
  CRF-Filters: Discriminative Particle Filters for Sequential State Estimation.
  In Proceedings of the IEEE International Conference on Roboticsand Automation (ICRA), Roma, Italy, April 2007.
  
  
• CRF-Matching
• Fabio Ramos, D. Fox, and H. Durrant-Whyte:
  CRF-Matching: Conditional Random Fields for Feature-Based Scan Matching.
  In Proc. of Robotics: Science and Systems 2007.
  
  
• Metric Monocular SLAM (EKF-SLAM)
• Laura A. Clemente, Andrew J. Davison, Ian Reid, José Neira and Juan D. Tardós:
  Mapping Large Loops with a Single Hand-Held Camera.
  In Proc. of Robotics: Science and Systems (RSS), 2007.
  
  
• Metric Visual Offline SLAM (Graph-SLAM)
  
  • B. Steder, G. Grisetti, S. Grzonka, C. Stachniss, A. Rottmann, and W. Burgard:
    Learning Maps in 3D using Attitude and Noisy Vision Sensors.
    In Proc. of IROS 2007.
    
    
• vSLAM
• Niklas Karlsson, Enrico Di Bernardo, Jim Ostrowski, Luis Goncalves, Paolo Pirjanian, and Mario E. Munich:
  The vSLAM Algorithm for Robust Localization and Mapping.
  In Proceedings of ICRA, Barcelona, pp. 24-29, 2005 
• Luis Goncalves, Enrico Di Bernardo, Dave Benson, Marcus Svedman, Jim Ostrowski, Niklas Karlsson, and Paolo Pirjanian:
  A Visual Front-end for Simultaneous Localization and Mapping.
  In Proceedings of ICRA, Barcelona, pp. 44-49, 2005.
  
  
• Topological Mapping and Navigation
• Zivkovic, Z.; Bakker, B.; Krose, B.:
  Hierarchical map building using visual landmarks and geometric constraints.
  In Proc. of Intelligent Robots and Systems (IROS), 2005.
• O. Booij, B. Terwijn, Z. Zivkovic, and B. Kroese:
  Navigation using an appearance based topological map.
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2007.
  
  
• Object-based Cognitive Mapping
• S. Vasudevan, S. Gächter, V. Nguyen, and R. Siegwart:
  Cognitive maps for mobile robots—an object based approach.
  Robotics and Autonomous Systems 55 (2007) 359–371.
  
  
• Navigation Among Movable Obstacles
• Mike Stilman and James J. Kuffner:
  Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments.
  International Journal of Humanoid Robotics, 2(4):479–504, 2005
• Mike Stilman, Koichi Nishiwaki, Satoshi Kagami, and James J. Kuffner:
  Planning and Executing Navigation Among Movable Obstacles.
  In Proc. of  IROS, Bejing, pp. 820-826, Oct. 2006.