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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Eichenbaum, Julian Nikolovski, Gjorgji Mülhens, Leon Reke, Michael Ferrein, Alexander Scholl, Ingrid The Mobile Autonomous Systems & Cognitive Robotics Institute Fh Aachen University of Applied Science Aachen Germany

ISBN: (纸本)9798350320695

autonomous agents require rich environment models for fulfilling their missions. High-definition maps are a well-established map format which allows for representing semantic information besides the usual geometric information of the environment. These are, for instance, road shapes, road markings, traffic signs or barriers. The geometric resolution of HD maps can be as precise as of centimetre level. In this paper, we report on our approach of using HD maps as a map representation for autonomous load-haul-dump vehicles in open-pit mining operations. As the mine undergoes constant change, we also need to constantly update the map. Therefore, we follow a lifelong mapping approach for updating the HD maps based on camera-based object detection and GPS data. We show our mapping algorithm based on the Lanelet 2 map format and show our integration with the navigation stack of the Robot Operating System. We present experimental results on our lifelong mapping approach from a real open-pit mine. © 2023 IEEE.

关键词： Roads and streets

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Steam Deck: A Handheld ROS 2 Based Rescue Robot Controller

Steam Deck: A Handheld ROS 2 Based Rescue Robot Controller

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27th RoboCup International Symposium, 2024

作者： Pawar, Shubham Kirsch, Maximillian Gollok, Christoph Ferrein, Alexander The Mobile Autonomous Systems & Cognitive Robotics Institute FH Aachen University of Applied Sciences Eupener Straße 70 Aachen52056 Germany

ISBN: (纸本)9783031858581

Efficient and rapid deployment of robots by first responders in rescue scenarios is crucial for locating and rescuing more victims faster. Easy to use teleoperating robot interface in urban search and rescue scenario is important to effectively guide the robots through complex environments, alongside having autonomous functions allowing them to operate independently when necessary. In this paper, we propose using the Steam Deck as a ROS 2-based Rescue Robot Controller, utilizing its capabilities as a powerful and a portable controller to control robots in the RoboCup Rescue League. We explore the Steam Deck for interacting and teleoperating the robot in the context of our Rescue Team ALeRT, where we control a quadruped robot Spot which is equipped with a Kinova light-weight manipulator. We show the ROS integration on the Steam Deck and discuss the usability of it as a controller. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： mobile robots

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Using Off-the-Shelf Deep Neural Networks for Position-Based Visual Servoing

Using Off-the-Shelf Deep Neural Networks for Position-Based...

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27th RoboCup International Symposium, 2024

作者： Tschesche, Matteo Hofmann, Till Ferrein, Alexander Lakemeyer, Gerhard Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Sciences Aachen Germany Knowledge-Based Systems Group RWTH Aachen University Aachen Germany

ISBN: (纸本)9783031858581

Visual servoing is a well-established technique for object grasping and controls the robot in a closed-loop fashion. It typically uses hand-crafted features or a neural network that directly learns the control output. We propose an alternative approach that uses an off-the-shelf neural network object classifier and can therefore compute target poses without manually selected features while also not requiring training from scratch. Instead, the object classifier only needs to be fine-tuned on a domain-specific dataset, significantly reducing the amount of required training data. We describe a task sequencing approach that can control a robot with a mobile base and an additional gripper, which is a typical setup in many robotics applications. We evaluate the approach in the RoboCup Logistics League and demonstrate the reliability and speed of the proposed approach. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： mobile robots

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A ROS 2-Based Navigation and Simulation Stack for the Robotino

A ROS 2-Based Navigation and Simulation Stack for the Rob...

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27th RoboCup International Symposium, 2024

作者： Borse, Saurabh Viehmann, Tarik Ferrein, Alexander Lakemeyer, Gerhard The Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Science Aachen52066 Germany Knowledge-Based Systems Group RWTH Aachen University Aachen52074 Germany

ISBN: (纸本)9783031858581

The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS 2 integration for the Robotino available. In this paper we describe our work on a Webots simulation environment for a Robotino platform extended by LIDAR sensors. A ROS 2 integration and a pre-configured setup for localization and navigation using existing ROS packages from the Nav2 suite is provided. We validate our setup by comparing simulations with real-world experiments conducted by three Robotinos in a logistics environment in our lab. Additionally, we tested the setup using a ROS 2 hardware driver for the Robotino developed by team GRIPS of the RoboCup Logistics League. The results demonstrate the feasibility of using ROS 2 and Nav2 for navigation tasks on the Robotino platform showing great consistency between simulation and real-world performance. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： mobile robots

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Extraction of Semantically Rich High-Definition Maps from Spatial Representations of an Open Pit Mine

Extraction of Semantically Rich High-Definition Maps from Sp...

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International Conference on Intelligent Transportation

作者： Andreas Braining Gjorgji Nikolovski Michael Reke Alexander Ferrein The Mobile Autonomous Systems & Cognitive Robotics Institute FH Aachen University of Applied Science Aachen Germany

Hauling of material by automated vehicles can be one of the sustainable solutions for the increasing economic and environmental challenges in the mining industry. For this, vehicles of various sizes must drive through an ever-changing environment, due to the destructive nature of resource extraction. Therefore, we show our solution to create automatically semantically rich high-definition maps, which can be used for efficient and safe navigation within the mine. In contrast to navigation on pure spatial geometry-based data like point clouds, high-definition maps have the advantage, that semantic information is recognised by the navigation system. But manually created high-definition maps need frequent updates due to the terrain changes, which makes them inflexible for most applications. In this paper, we will show, how Lanelet2- maps can be generated automatically from point clouds with a multistep algorithm and how these maps are adjusted to the long-term changes of the environment. For evaluation, we present our findings in some real-world examples and synthetically generated point clouds of the main edge-case situations.

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Model-predictive Control with Parallelised Optimisation for the Navigation of autonomous Mining Vehicles

Model-predictive Control with Parallelised Optimisation for ...

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IEEE Symposium on Intelligent Vehicle

作者： Gjorgji Nikolovski Nicolas Limpert Hendrik Nessau Michael Reke Alexander Ferrein The Mobile Autonomous Systems & Cognitive Robotics Institute FH Aachen University of Applied Science Aachen Germany

The work in modern open-pit and underground mines requires the transportation of large amounts of resources between fixed points. The navigation to these fixed points is a repetitive task that can be automated. The challenge in automating the navigation of vehicles commonly used in mines is the systemic properties of such vehicles. Many mining vehicles, such as the one we have used in the research for this paper, use steering systems with an articulated joint bending the vehicle’s drive axis to change its course and a hydraulic drive system to actuate axial drive components or the movements of tippers if available. To address the difficulties of controlling such a vehicle, we present a model-predictive approach for controlling the vehicle. While the control optimisation based on a parallel error minimisation of the predicted state has already been established in the past, we provide insight into the design and implementation of an MPC for an articulated mining vehicle and show the results of real-world experiments in an open-pit mine environment.

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Towards a Lifelong Mapping Approach Using Lanelet 2 for autonomous Open-Pit Mine Operations

Towards a Lifelong Mapping Approach Using Lanelet 2 for Auto...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Julian Eichenbaum Gjorgji Nikolovski Leon Mülhens Michael Reke Alexander Ferrein Ingrid Scholl The Mobile Autonomous Systems & Cognitive Robotics Institute FH Aachen University of Applied Science Aachen Germany

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ECG Matching: An Approach to Synchronize ECG Datasets for Data Quality Comparisons

ECG Matching: An Approach to Synchronize ECG Datasets for Da...

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68th Annual Meeting of the German Association of Medical Informatics, Biometry, and Epidemiology: Science. Close to People, GMDS 2023

作者： Alhaskir, Mohamed Tschesche, Matteo Linke, Florian Schriewer, Elisabeth Weber, Yvonne Wolking, Stefan Röhrig, Rainer Koch, Henner Kutafina, Ekaterina Institute for Medical Informatics Medical Faculty Rwth Aachen University Aachen Germany Institute for Mobile Autonomous Systems and Cognitive Robotics Fh Aachen University of Applied Sciences Aachen Germany Department of Epileptology Neurology Medical Faculty Rwth Aachen University Aachen Germany

ISBN: (纸本)9781643684284

Clinical assessment of newly developed sensors is important for ensuring their validity. Comparing recordings of emerging electrocardiography (ECG) systems to a reference ECG system requires accurate synchronization of data from both devices. Current methods can be inefficient and prone to errors. To address this issue, three algorithms are presented to synchronize two ECG time series from different recording systems: Binned R-peak Correlation, R-R Interval Correlation, and Average R-peak Distance. These algorithms reduce ECG data to their cyclic features, mitigating inefficiencies and minimizing discrepancies between different recording systems. We evaluate the performance of these algorithms using high-quality data and then assess their robustness after manipulating the R-peaks. Our results show that R-R Interval Correlation was the most efficient, whereas the Average R-peak Distance and Binned R-peak Correlation were more robust against noisy data. © 2023 The authors and IOS Press.

关键词： Electrocardiography

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A ROS~2-based Navigation and Simulation Stack for the Robotino

arXiv

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arXiv 2024年

The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS 2 integration for the Robotino available. In this paper we describe our work on a Webots simulation environment for a Robotino platform extended by LIght Detection And Ranging (LIDAR) sensors. A ROS 2 integration and a pre-configured setup for localization and navigation using existing ROS packages from the Nav2 suite is provided. We validate our setup by comparing simulations with real-world experiments conducted by three Robotinos in a logistics environment in our lab. Additionally, we tested the setup using a ROS 2 hardware driver for the Robotino developed by team GRIPS of the RoboCup Logistics League. The results demonstrate the feasibility of using ROS 2 and Nav2 for navigation tasks on the Robotino platform showing great consistency between simulation and real-world performance. © 2024, CC BY.

关键词： Optical radar

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Portable high-level agent programming with golog++ 13

Portable high-level agent programming with golog++

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13th International Conference on Agents and Artificial Intelligence, ICAART 2021

作者： Mataré, Victor Viehmann, Tarik Hofmann, Till Lakemeyer, Gerhard Ferrein, Alexander Schiffer, Stefan Institute for Mobile Autonomous Systems and Cognitive Robotics FH Aachen University of Applied Sciences Aachen Germany Knowledge-based Systems Group RWTH Aachen University Aachen Germany

ISBN: (纸本)9789897584848

We present golog++, a high-level agent programming and interfacing framework that offers a temporal constraint language to explicitly model layer-penetrating contingencies in low-level platform behavior. It can be used to maintain a clear separation between an agent's domain model and certain quirks of its execution platform that affect problem solving behavior. Our system reasons about the execution of an abstract (i.e. exclusively domain-bound) plan on a particular execution platform. This way, we avoid compounding the complexity of the planning problem while improving the modularity of both golog++ and the user code. On a run-through example from the well-known blocksworld domain, we demonstrate the entire process from domain modeling and platform modeling to plan transformation and platform-specific plan execution. © 2021 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Robot programming

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