Autonomous navigation for urban service mobile robots

Murtra, Andreu Corominas; Trulls, Eduard; Sandoval, Oscar Leonardo Herrera; Pérez-Ibarz, J.; Vasquez, Dizan; Mirats-Tur, Josep M.; Ferrer, Miquel; Sanfeliu, Alberto

doi:10.1109/iros.2010.5649151

Cited by 12 publications

(15 citation statements)

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“…For outdoor pedestrian environments such as central areas of cities, research results began emerging in 2009 [27], where a robot was developed in order to navigate with the help of directions given by people. The URUS project dealt mainly with the development of robot navigation strategies for performing inspection services in outdoor pedestrian ar-eas [28,29]. This project also focused on robot-infrastructure communication.…”

Section: Developing Of Autonomous Vehicles For Pedestrian Areasmentioning

confidence: 99%

Interactive System for Package Delivery in Pedestrian Areas Using a Self-Developed Fleet of Autonomous Vehicles

2022

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In the context of automation and digitalization technologies and due to the existing trends of re-urbanization, autonomous vehicles for execution of services such as package delivery, transportation, vegetation care and street cleaning are considered innovative solutions. This paper presents a concept and implementation of a system developed to plan and deliver packages within pedestrian areas, using autonomous vehicles. The novelty of the system lies in the systematic view of this use case, which considers all stakeholder views from the CEP (courier, express, and parcel services) provider, traffic participants, and customers and where the technical and technological innovation is guided by interactivity with the users. This work outlines the design and integration of user interaction, the developed vehicles within the fleet designed for operating within pedestrian environments, and localization and navigation strategies. After the vehicles were approved and certified from a technical point of view to operate in pedestrian areas, the entire system was tested and evaluated in a new city district of Heilbronn with approximately 800 inhabitants. In the last six weeks of experiments, 572 packages were delivered in an autonomous way. The interactive way of planning and executing services on demand led, according to a market study in Heilbronn, to an increased acceptance of the users for autonomous package delivery services from 76% to 91%.

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Section: Developing Of Autonomous Vehicles For Pedestrian Areasmentioning

confidence: 99%

Interactive System for Package Delivery in Pedestrian Areas Using a Self-Developed Fleet of Autonomous Vehicles

2022

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“…The produced textured facade models can be useful information for many applications such as virtual navigation, autonomous navigation (e.g., [7, 8]) and intelligent transportation systems (e.g., [9]). Indeed, vision-based map-less navigation can exploit the set of textured facades in order to match the on-board acquired images with the corresponding georeferenced facades.…”

Section: Introductionmentioning

confidence: 99%

A Synergistic Approach for Recovering Occlusion-Free Textured 3D Maps of Urban Facades from Heterogeneous Cartographic Data

Hammoudi

Dornaika

Soheilian

et al. 2013

International Journal of Advanced Robotic Systems

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In this paper we present a practical approach for generating an occlusion-free textured 3D map of urban facades by the synergistic use of terrestrial images, 3D point clouds and area-based information. Particularly in dense urban environments, the high presence of urban objects in front of the facades causes significant difficulties for several stages in computational building modeling. Major challenges lie on the one hand in extracting complete 3D facade quadrilateral delimitations and on the other hand in generating occlusion-free facade textures. For these reasons, we describe a straightforward approach for completing and recovering facade geometry and textures by exploiting the data complementarity of terrestrial multi-source imagery and area-based information

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“…The chapter is based on formulation and concept definitions previously made at chapters 3, 4 and 5. Four publications are related to this chapter, [70,22,25,111].…”

Section: Chapter Overview and Reading Guidementioning

confidence: 99%

“…There exist a lot of examples in the literature proposing localization approaches in a variety of environments. Among them, it can be found methods for indoor office or home environments [77,104,13,17,34,43,66,115,119,54,106,63], for highly dynamic indoor environments like an exhibition pavilion [4], a museum [14,108,35,110], a shopping mall [39] or a robot soccer field [65], for outdoor university campus areas [107,52,117,25], for urban pedestrian settings [38,64,71,111], for urban roads [55,95,60], for outdoor industrial environments [78], for forestry roads [58] and, finally, for planetary environments [81,51,62].…”

Section: Nature Of the Environmentmentioning

confidence: 99%

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Map-based localization for urban service mobile robotics

Corominas Murtra

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Mobile robotics research is currently interested on exporting autonomous navigation results achieved in indoor environments, to more challenging environments, such as, for instance, urban pedestrian areas. Developing mobile robots with autonomous navigation capabilities in such urban environments supposes a basic requirement for a upperlevel service set that could be provided to an users community. However, exporting indoor techniques to outdoor urban pedestrian scenarios is not evident due to the larger size of the environment, the dynamism of the scene due to pedestrians and other moving obstacles, the sunlight conditions, and the high presence of three dimensional elements such as ramps, steps, curbs or holes. Moreover, GPS-based mobile robot localization has demonstrated insufficient performance for robust long-term navigation in urban environments. One of the key modules within autonomous navigation is localization. If localization supposes an a priori map, even if it is not a complete model of the environment, localization is called map-based. This assumption is realistic since current trends of city councils are on building precise maps of their cities, specially of the most interesting places such as city downtowns. Having robots localized within a map allows for a high-level planning and monitoring, so that robots can achieve goal points expressed on the map, by following in a deliberative way a previously planned route. This thesis deals with the mobile robot map-based localization issue in urban pedestrian areas. The thesis approach uses the particle filter algorithm, a well-known and widely used probabilistic and recursive method for data fusion and state estimation. The main contributions of the thesis are divided on four aspects: (1) long-term experiments of mobile robot 2D and 3D position tracking in real urban pedestrian scenarios within a full autonomous navigation framework, (2) developing a fast and accurate technique to compute on-line range observation models in 3D environments, a basic step required by the real-time performance of the developed particle filter, (3) formulation of a particle filter that integrates asynchronous data streams and (4) a theoretical proposal to solve the global localization problem in an active and cooperative way, defining cooperation as either information sharing among the robots or planning joint actions to solve a common goal. Actualment, la recerca en robòtica mòbil té un interés creixent en exportar els resultats de navegació autònoma aconseguits en entorns interiors cap a d'altres tipus d'entorns més exigents, com, per exemple, les àrees urbanes peatonals. Desenvolupar capacitats de navegació autònoma en aquests entorns urbans és un requisit bàsic per poder proporcionar un conjunt de serveis de més alt nivell a una comunitat d'usuaris. Malgrat tot, exportar les tècniques d'interiors cap a entorns exteriors peatonals no és evident, a causa de la major dimensió de l'entorn, del dinamisme de l'escena provocada pels peatons i per altres obstacles en moviment, de la resposta de certs sensors a la il.luminació natural, i de la constant presència d'elements tridimensionals tals com rampes, escales, voreres o forats. D'altra banda, la localització de robots mòbils basada en GPS ha demostrat uns resultats insuficients de cara a una navegació robusta i de llarga durada en entorns urbans. Una de les peces clau en la navegació autònoma és la localització. En el cas que la localització consideri un mapa conegut a priori, encara que no sigui un model complet de l'entorn, parlem d'una localització basada en un mapa. Aquesta assumpció és realista ja que la tendència actual de les administracions locals és de construir mapes precisos de les ciutats, especialment dels llocs d'interés tals com les zones més cèntriques. El fet de tenir els robots localitzats en un mapa permet una planificació i una monitorització d'alt nivell, i així els robots poden arribar a destinacions indicades sobre el mapa, tot seguint de forma deliberativa una ruta prèviament planificada. Aquesta tesi tracta el tema de la localització de robots mòbils, basada en un mapa i per entorns urbans peatonals. La proposta de la tesi utilitza el filtre de partícules, un mètode probabilístic i recursiu, ben conegut i àmpliament utilitzat per la fusió de dades i l'estimació d'estats. Les principals contribucions de la tesi queden dividides en quatre aspectes: (1) experimentació de llarga durada del seguiment de la posició, tant en 2D com en 3D, d'un robot mòbil en entorns urbans reals, en el context de la navegació autònoma, (2) desenvolupament d'una tècnica ràpida i precisa per calcular en temps d'execució els models d'observació de distàncies en entorns 3D, un requisit bàsic pel rendiment del filtre de partícules a temps real, (3) formulació d'un filtre de partícules que integra conjunts de dades asíncrones i (4) proposta teòrica per solucionar la localització global d'una manera activa i cooperativa, entenent la cooperació com el fet de compartir informació, o bé com el de planificar accions conjuntes per solucionar un objectiu comú.

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Autonomous navigation for urban service mobile robots

Cited by 12 publications

References 11 publications

Interactive System for Package Delivery in Pedestrian Areas Using a Self-Developed Fleet of Autonomous Vehicles

Interactive System for Package Delivery in Pedestrian Areas Using a Self-Developed Fleet of Autonomous Vehicles

A Synergistic Approach for Recovering Occlusion-Free Textured 3D Maps of Urban Facades from Heterogeneous Cartographic Data

Map-based localization for urban service mobile robotics

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