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Final Program and Book of Abstracts Third Swedish Workshop on Autonomous Robotics SWAR ´05 Final Program and Book of Abstracts Third Swedish Workshop on Autonomous Robotics SWAR '05 Petter Ögren (Editor) Kista, Stockholm, September 1-2, 2005 FOI-R-- 1756 --SE Systems Technology October 2005 ISSN 1650-1942 Scientific report Final Program and Book of Abstracts Third Swedish Workshop on Autonomous Robotics SWAR ‘05 FOI-R--1756--SE Systems Technology October 2005 ISSN 1650-1942 Scientific report Page 1 of 98 Issuing organization Report number, ISRN Report type FOI – Swedish Defence Research Agency FOI-R—1756--SE Scientific report Systems Technology Research area code SE-164 90 Stockholm 7. Mobility and space technology, incl materials Month year Project no. October 2005 E6941 Sub area code 71 Unmanned Vehicles Sub area code 2 Author/s (editor/s) Project manager Petter Ögren (Editor) Petter Ögren Approved by Monica Dahlén Sponsoring agency FMV Scientifically and technically responsible Karl Henrik Johansson Report title Final Program and Book of Abstracts, Third Swedish Workshop on Autonomous Robotics, SWAR 05 Abstract This document contains the final program and 36 two page extended abstracts from the Third Swedish Workshop on Autonomous Robotics, SWAR’05, organized by FOI in September 1-2, 2005. SWAR is an opportunity for researchers and engineers working in the field of robotics and autonomous systems to learn about activities of neighboring institutions, discuss common interests and initiate new cooperations. The previous workshops, SWAR’00 and SWAR’02, were hosted by Örebro University and KTH, respectively. SWAR’05 gathered more than 80 participants from 25 different organizations, all over Sweden. Keywords Autonomy, Robotics, SWAR, Workshop Further bibliographic information Language English ISSN 1650-1942 Pages 98 p. Price acc. to pricelist Page 2 of 98 Utgivare Rapportnummer, ISRN Klassificering FOI - Totalförsvarets forskningsinstitut FOI-R--1756--SE Vetenskaplig rapport Systemteknik Forskningsområde 164 90 Stockholm 7. Farkost- och rymdteknik, inkl material Månad, år Projektnummer Oktober 2005 E6941 Delområde 71 Obemannade farkoster Delområde 2 Författare/redaktör Projektledare Petter Ögren (redaktör) Petter Ögren Godkänd av Monica Dahlén Uppdragsgivare/kundbeteckning FMV Tekniskt och/eller vetenskapligt ansvarig Karl Henrik Johansson Rapportens titel Slutgiltigt program och samtliga bidrag i sammanfattning från konferensen SWAR '05 Sammanfattning Denna rapport innehåller program och 36 stycken tvåsidiga “extended abstracts” från konferensen SWAR’05, Third Swedish Workshop on Autonomous Robotics, som organiserades av FOI i Kista under 1-2 September 2005. SWAR erbjuder en möjlighet för forskare och ingenjörer verksamma inom robotik och autonomiområdet att träffas, utbyta forskningsresultat och erfarenheter samt diskutera möjliga samarbeten. De tidigare konferenserna, SWAR’00 och SWAR’02 organiserades av Örebro universitet respektive KTH. SWAR’05 samlade mer än 80 deltagare från 25 olika organisationer over hela Sverige. Nyckelord Autonomi, robotik, swar, konferens Övriga bibliografiska uppgifter Språk Engelska ISSN 1650-1942 Antal sidor: 98 s. Distribution enligt missiv Pris: Enligt prislista Page 3 of 98 Page 4 of 98 SWAR’05 Final Program and Book of Abstracts Kista, Stockholm, September 1-2, 2005 SWAR ’05 Aims and Objectives Over the last few years, robotics has continued to expand from its factory birthplace into new unstructured and populated environments such as households and outdoor areas. Today, an increasing number of researchers and developers all over Sweden are actively participating in this expansion. The Third Swedish Workshop on Autonomous Robotics, SWAR’05, is organized by FOI, the Swedish Defence Research Agency. It is an excellent opportunity for researchers and engineers working in robotics and autonomous systems in a wide sense to learn about activities of neighboring institutions, discuss common interests and initiate new cooperations. The previous workshops SWAR’00 and SWAR’02, hosted by Örebro University and KTH, respectively, were met with great enthusiasm by the participants. Organizer: Petter Ögren, FOI. Program committee: Karl Henrik Johansson, KTH (Chair); Patrick Doherty, Linköping University; Tom Duckett, Örebro University; Anders Robertsson, LTH; Anton Shiriaev, Umeå University. Sponsoring Organization: FMV, Swedish Defence Materiel Administration Page 5 of 98 Table of Contents SWAR ’05 Aims and Objectives ...................................................................................................... 5 Table of Contents .............................................................................................................................. 6 SWAR’05 Program at a Glance........................................................................................................ 8 Plenary 1: Autonomous GIS-supported Positioning and Navigation...................................... 10 Plenary 2: Autonomy on the SMART-1 Lunar Probe.................................................................. 11 Session UGV .................................................................................................................................... 13 Follow the Past – A Path Tracking method Using Recorded Orientation and Steering Commands .............................................................................................................................. 14 Adaptive and Predictive Control for Off-road Mobile Robots Path Tracking ........................... 16 Autonomous Robot Navigation in a Public Nature Park.......................................................... 18 Laser Guided Vehicles, LGV’s: Industrial Experiences and Needs for the Future.................. 22 Spherical Mobile Robots for Extreme Conditions.................................................................... 24 Evaluations of a UGV in MOUT missions from a Man-System Interaction perspective.......... 26 Military use of Unmanned Ground Vehicles in Urban Terrain................................................. 28 Session Navigation and Sensors.................................................................................................. 31 Topological Map Building for Mobile Robots using Omnidirectional Vision ............................ 32 Tracking for Human Augmented Mapping............................................................................... 34 Automatic Building Detection for Mobile Robot Mapping ........................................................ 36 Closed Contour Reconstruction using Iterated Smoothing Splines ........................................ 38 Real-time Hough using Reconfigurable Hardware .................................................................. 40 A Comparative Study for WiFi Localization in a Dynamic Environment.................................. 42 Fault Detection for Increased Robustness in Navigation ........................................................ 44 Fast Laser Based Feature Recognition................................................................................... 46 Session Architectures and User Interaction ............................................................................... 49 Selection of Virtual Fixtures Based on Recognition of Motion Intention for Teleoperation Tasks ................................................................................................................................................. 50 A Software Infrastructure for Sensors, Actuators and Communication................................... 52 A Knowledge Processing Middleware Framework and its Relation to the JDL Data Fusion Model ....................................................................................................................................... 54 The Worlds Simplest Mechanism Simulator or Making Engineering Students Suddenly Discover that They Want to Devour Mathematics and Physics .............................................. 56 Page 6 of 98 Binary Agents for the Control of Autonomous Vehicles .......................................................... 58 Session Manipulation ..................................................................................................................... 61 Telerobotics, for use in Contaminated Workspaces................................................................ 62 Constrained Path Planning for Mobile Manipulators ............................................................... 64 Simulating tactile Sensors in robotic grasping......................................................................... 66 Productive Robots and the SMErobot project ......................................................................... 68 Session Multi Vehicles and Control.............................................................................................. 71 Symmetries in the Coordinated Rendezvous Problem............................................................ 72 Modification via Averaging of Passivity-based Control for Orbital Stabilization ...................... 74 Stabilizations of Vehicle Formations- A Case Study ............................................................... 76 Motion Planning and Dynamical Positioning for a Fleet of Underactuated Ships ................... 78 Flocking with Obstacle avoidance, A New Distributed Coordination Algorithm Based on Voronoi Partitions .................................................................................................................... 80 Session UAV ...................................................................................................................................
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