Simultaneous people tracking and robot localization in dynamic social spaces

Glas, Dylan F.; Morales, Yoichi; Kanda, Takayuki; Ishiguro, Hiroshi; Hagita, Norihiro

doi:10.1007/s10514-015-9426-3

Cited by 9 publications

(5 citation statements)

References 48 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Detection, identification, localisation and tracking of objects are important subjects studied in the robotics community (Glas et al, 2009;Glas et al, 2015). Some systems have achieved sub-meter level accuracy but at the expense of high-cost sensors like LiDARs, high-definition cameras, RTK-supported GNSS or different combinations of the sensors.…”

Section: Localisation Of Human Workersmentioning

confidence: 99%

A Unified Topological Representation for Robotic Fleets in Agricultural Applications

Das,

Cielniak,

Heselden

et al. 2023

Preprint

View full text Add to dashboard Cite

Agricultural robots offer a viable solution to the critical challenges of productivity and sustainability of modern agriculture. The widespread deployment of agricultural robotic fleets, however, is still hindered by the overall system’s complexity, requiring the integration of several non-trivial components for the operation of each robot but also the orchestration of robots working with each other and human workers. This paper proposes a topological map as the unifying representation and computational model to facilitate the smooth deployment of robotic fleets in agriculture. This topological abstraction of the system state results in an efficient representation of large-scale environments, but also offers the scalable and efficient operation of the entire fleet and allows for ex-situ modelling and analysis of operations. The practical use of the proposed framework is demonstrated in a horticultural use case with a fleet of robots supporting the work of human fruit pickers. The critical components of the system are analysed and evaluated in deployment in both realistic digital twin and real-life soft fruit farms of different scales, demonstrating the scalability and effectiveness of the proposed framework. The presented framework is general and should be easy to adopt in other multi-robot/multi-human scenarios such as warehouse logistics, cleaning and maintenance of public spaces.

show abstract

Section: Localisation Of Human Workersmentioning

confidence: 99%

A Unified Topological Representation for Robotic Fleets in Agricultural Applications

Das,

Cielniak,

Heselden

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…Detection, identification, localisation and tracking of objects has been an important subject studied in the robotics community [7], [8]. There are systems which have achieved sub-meter level accuracy but at the expense of high-cost sensors like lidars, high-definition cameras, RTK-supported GNSS or different combinations of the sensors.…”

Section: Related Workmentioning

confidence: 99%

Incorporating Spatial Constraints into a Bayesian Tracking Framework for Improved Localisation in Agricultural Environments

Khan

Hanheide

Cielniak

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Global navigation satellite system (GNSS) has been considered as a panacea for positioning and tracking since the last decade. However, it suffers from severe limitations in terms of accuracy, particularly in highly cluttered and indoor environments. Though real-time kinematics (RTK) supported GNSS promises extremely accurate localisation, employing such services are expensive, fail in occluded environments and are unavailable in areas where cellular base stations are not accessible. It is, therefore, necessary that the GNSS data is to be filtered if high accuracy is required. Thus, this article presents a GNSS-based particle filter that exploits the spatial constraints imposed by the environment. In the proposed setup, the state prediction of the sample set follows a restricted motion according to the topological map of the environment. This results in the transition of the samples getting confined between specific discrete points, called the topological nodes, defined by a topological map. This is followed by a refinement stage where the full set of predicted samples goes through weighting and resampling, where the weight is proportional to the predicted particle's proximity with the GNSS measurement. Thus, a discrete space continuous-time Bayesian filter is proposed, called the Topological Particle Filter (TPF).The proposed TPF is put to test by localising and tracking fruit pickers inside polytunnels. Fruit pickers inside polytunnels can only follow specific paths according to the topology of the tunnel. These paths are defined in the topological map of the polytunnels and are fed to TPF to tracks fruit pickers. Extensive datasets are collected to demonstrate the improved discrete tracking of strawberry pickers inside polytunnels thanks to the exploitation of the environmental constraints.

show abstract

“…Odometry errors due to slippage may also be determined by comparing data acquired from a group of robots working within a specific workplace. Examples of this are shown in papers (Glas et al 2015) and (Li et al 2016), discussing the slippage problem in detail. Slippage may be detected by models describing the kinematics and dynamics of movement (Antonelli and Chiaverini 2007;Gutirrez et al 2002;Doh et al 2006;Fernandez et al 2014) and state observers (Song et al 2007).…”

Section: Related Workmentioning

confidence: 99%

The impact of load on the wheel rolling radius and slip in a small mobile platform

2019

View full text Add to dashboard Cite

Automated guided vehicles are used in a variety of applications. Their major purpose is to replace humans in onerous, monotonous and sometimes dangerous operations. Such vehicles are controlled and navigated by application-specific software. In the case of vehicles used in multiple environments and operating conditions, such as the vehicles which are the subject of this study, a reasonable approach is required when selecting the navigation system. The vehicle may travel around an enclosed hall and around an open yard. The pavement surface may be smooth or uneven. Vehicle wheels should be flexible and facilitate the isolation and absorption of vibrations in order to reduce the effect of surface unevenness to the load. Another important factor affecting the operating conditions are changes to vehicle load resulting from the distribution of the load and the weight carried. Considering all of the factors previously mentioned, the vehicle's navigation and control system is required to meet two opposing criteria. One of them is low price and simplicity, the other is ensuring the required accuracy when following the preset route. In the course of this study, a methodology was developed and tested which aims to obtain a satisfactory compromise between those two conflicting criteria. During the study a vehicle made in Technical University of Rzeszow was used. The results of the experimental research have been analysed. The results of the analysis provided a foundation for the development of a methodology leading to a reduction in navigation errors. Movement simulations for the proposed vehicle system demonstrated the potential for a significant reduction in the number of positioning errors.

show abstract

Simultaneous people tracking and robot localization in dynamic social spaces

Cited by 9 publications

References 48 publications

A Unified Topological Representation for Robotic Fleets in Agricultural Applications

A Unified Topological Representation for Robotic Fleets in Agricultural Applications

Incorporating Spatial Constraints into a Bayesian Tracking Framework for Improved Localisation in Agricultural Environments

The impact of load on the wheel rolling radius and slip in a small mobile platform

Contact Info

Product

Resources

About