I3A - Instituto de Investigación en Ingeniería de Aragón

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RoPeRTRobotics, Perception and Real Time Group
http://robots.unizar.es

The Robotics, Perception and Real time group (RoPeRT) is one of the research groups of Aragón Institute of Engineering Research (I3A), which has been considered as a Quality Research Group (Grupo Consolidado de Investigación) by the Regional Government of Aragón (Gobierno de Aragón). It hosts 52 researchers and has expertise in mobile and manipulation robotics, perception systems, computer vision, cooperative, communications based on ad-hoc robotics for rehabilitation, and brain-computer interfaces. The group participates in several European and national projects and is a international reference in Robotics research.

Research Lines

Information and Communication Technologies

Robot Motion Planning And Navigation
  1. Motion planning and navigation systems.
  2. Motion planning in dynamic environments.
  3. Topological maps learning and building.
  4. Task planning and allocation and motion...
  1. Motion planning and navigation systems.
  2. Motion planning in dynamic environments.
  3. Topological maps learning and building.
  4. Task planning and allocation and motion coordination for multi-robot systems.
  5. Exploration strategies for robot teams.
  6. Planning and navigation under communication constraints.
  7. Communications and connectivity constraints for robotic systems.
  8. Mobile ad-hoc networks.
  9. Autonomous vehicles in different applications: logistics, intervention and rescue robots, intervention in confined environments, intelligent vehicles, powered wheelchairs, industrial mobile robots, terrain exploration, service robots, tour-guide robots.
Simultaneous Localization And Mapping
  1. Simultaneous Localization and Mapping (SLAM).
  2. Visual SLAM: monocular, stereo, RGB-D.
  3. Semantic SLAM, SLAM with objects.
  4. Non-rigid SLAM.
  5. Applications:...
  1. Simultaneous Localization and Mapping (SLAM).
  2. Visual SLAM: monocular, stereo, RGB-D.
  3. Semantic SLAM, SLAM with objects.
  4. Non-rigid SLAM.
  5. Applications: Robotics, Augmented Reality, Medicine.
Computer Vision And Perception
  1. Computer vision for 3D modeling and map building from stereo and monocular sequences of images taken from hand-held or mounted on vehicle cameras.
  2. Sensor integration. Visual...
  1. Computer vision for 3D modeling and map building from stereo and monocular sequences of images taken from hand-held or mounted on vehicle cameras.
  2. Sensor integration. Visual information from monocular or stereo cameras is integrated with other sensorial information, such as range sensors, odometry, inertial sensors or ultrasound.
Communications And Ad-Hoc Networks
  1. Mobile ad-hoc networks in robotics.
  2. Manage real time traffic for interfacing robots without previously infrastructure.
  3. Wireless communication in confined environments...
  1. Mobile ad-hoc networks in robotics.
  2. Manage real time traffic for interfacing robots without previously infrastructure.
  3. Wireless communication in confined environments.
  4. Ad-Hoc networks oriented to the work of several activities like rescue, surveillance, exploitation, emergency, either for human or robot teams.
 
Exoskeletons And Biosignal Processing
  1. Robotized exoskeletons control.
  2. Neurorobotic and neuroprosthetic (EEG, EMG).
  3. Biosignal processing: surface EMG and biomechamic parameter estimation.
  4. Interpretation...
  1. Robotized exoskeletons control.
  2. Neurorobotic and neuroprosthetic (EEG, EMG).
  3. Biosignal processing: surface EMG and biomechamic parameter estimation.
  4. Interpretation of EEG information. Classification of motion intentions and on-going motion.
  5. Aplication of biosignals to exoskeleton control.
Learning
  1. Robot learning.
  2. Bayesian Optimization.
  3. Brain computer interfaces.
  4. EEG based Neuro-Rehabilitation and assistive robotics.
  1. Robot learning.
  2. Bayesian Optimization.
  3. Brain computer interfaces.
  4. EEG based Neuro-Rehabilitation and assistive robotics.

Key Projects

IGLÚ

Interactive Grounded Language Understanding: Through a developmental approach where knowledge grows in complexity while driven by multimodal experience and language interaction with a human, we...

Interactive Grounded Language Understanding: Through a developmental approach where knowledge grows in complexity while driven by multimodal experience and language interaction with a human, we propose an agent that will incorporate models of dialogues, human emotions and intentions as part of its decision-making process.

This will lead anticipation and reaction not only based on its internal state (own goal and intention, perception of the environment), but also on the perceived state and intention of the human interactant. This will be possible through the development of advanced machine learning methods (combining developmental, deep and reinforcement learning) to handle large-scale multimodal inputs, besides leveraging state-of-the-art technological components involved in a language-based dialog system available within the consortium.

IP = Javier Civera

Information and Communication Technologies

AUTODUMP: Debris automation in tunnels through robotized dumpers. RTC-2015-4099-4

The objective of this project is to design and develop a new kit to robotize a conventional dumper used in construction, transforming it to an autonomous mobile robot for tunnel construction. It...

The objective of this project is to design and develop a new kit to robotize a conventional dumper used in construction, transforming it to an autonomous mobile robot for tunnel construction. It must be capable of reaching the excavation front without human intervention, then wait to be loaded, and finally autonomously transport the debris outside of the tunnel towards the dump.

The new robotic kit will be a breakthrough in the technology used to carry out work performances of various kinds. In addition, the kit developed also represents a major technological challenge to maximize the autonomy of the process and its ability to react in a dynamic and minimally structured environment such as a tunnel in construction. These factors besides offering a marketable product, require the development of different subsystems involved to ensure robustness, compactness and economic viability of the system.

HYPER: Hybrid Neuroprosthetic and Neurorobotic Devices for Functional Compensation and Rehabilitation of Motor Disorders. MICINN CSD2009-00067

The HYPER Project intends to represent a breakthrough in the research of neurorobotic (NR) and motor neuroprosthetic (MNP) devices in close cooperation with the human body, both for rehabilitation...

The HYPER Project intends to represent a breakthrough in the research of neurorobotic (NR) and motor neuroprosthetic (MNP) devices in close cooperation with the human body, both for rehabilitation and functional compensation of motor disorders in activities of daily living. The project will focus its activities on new wearable NR-MNP systems that will combine biological and artificial structures in order to overcome the major limitations of current rehabilitation solutions for the particular case of Cerebrovascular Accident (CVA), Cerebral Palsy (CP) and Spinal Cord Injury (SCI). 2010-2014.

DIVCORE: DIstributed Vision and robot Coordination for Remote Exploration. DPI2015-69376
This project considers a multi-robot scenario with several ground and aerial vehicles carrying out tasks involving perception, consensus and coordinated motion with vision sensors applied to...
This project considers a multi-robot scenario with several ground and aerial vehicles carrying out tasks involving perception, consensus and coordinated motion with vision sensors applied to autonomously explore and monitor a particular area of interest. The project revolves around three main research challenges:
 
  • Firstly, it involves research in perception techniques, in a context where multiple vision sensors can be localized at fixed positions or carried onboard different mobile robots.
  • Secondly, the project studies the use of distributed consensus algorithms to achieve the best possible information of the environment for the team members.
  • Finally, to execute the required task, the project will propose novel distributed coordination and control algorithms to move the robots.
 
ROBOEARTH (Robots sharing a knowledge base for world modelling and learning of actions). FP7 ICT- 248942

European project. 4-year project. The RoboEarth-project exploits a new approach towards endowing robots with advanced perception and action capabilities, thus enabling robots to...

European project. 4-year project. The RoboEarth-project exploits a new approach towards endowing robots with advanced perception and action capabilities, thus enabling robots to carrying out useful tasks autonomously in circumstances that were not planned for explicitly at design time. A series of six demonstrators will show the contributions of the project. The Action Recipe demonstrator will show robots creating/uploading and downloading/executing action recipes (abstract behaviour or algorithm descriptions in the RoboEarth database) to and from RoboEarth. 2009-2013.

TITAM_ie: Intelligent Technologies for indoor and outdoor goods autonomous transportation. Spanish Technological funds project ID-20110855

The objective is the development of robust technologies for localization, mapping and autonomous navigation of mobile robots for good transportation. A real prototype will be built and the...

The objective is the development of robust technologies for localization, mapping and autonomous navigation of mobile robots for good transportation. A real prototype will be built and the experimental validation will be developed in a large Industrial Park, in indoor and outdoor scenarios. 2011-2013. Acciona-CDTI.

SVMap: Semantic Visual Mapping for Rigid and Non-Rigid Scenes . DPI2012-32168

The goal of this project is to push the limits of current visual mapping techniques, developing more efficient and robust techniques, able to build semi-dense maps, scene understanding methods...

The goal of this project is to push the limits of current visual mapping techniques, developing more efficient and robust techniques, able to build semi-dense maps, scene understanding methods that boost the semantic contents of the map, and research new methods able to deal with sequences of non-rigid scenes, with applications to medical imagery.

VINEA: Wearable computer vision for human navigation and enhanced assistance. DPI2012-31781

The goal of this project is the research of computer vision and robotic techniques to be part of a personal assistance system based on visual information. The main modules of our project are: 1)...

The goal of this project is the research of computer vision and robotic techniques to be part of a personal assistance system based on visual information. The main modules of our project are: 1) Localization and guidance, 2) Scene understanding and environment interaction. The final goal is to obtain smart localization, not purely a geometric localization, but enrich it with additional information and context awareness, providing the human user with cognition of what is happening around him or her. During the whole research process the usage of omnidirectional and other unconventional visual sensors is a key issue. Our first prototype will be augmented with new capabilities using wearable 3D vision system. Opportunities for technology transfer will be analyzed in cooperation with our industrial partners.

TELOMAN: TEams of robots for LOgistics, MAintenance and eNvironment monitoring. DPI 2012-32100

The research project involves deployment and actuation techniques of a multi-robot team. It is necessary to address problems of task planning and allocation, coordinated execution of the...

The research project involves deployment and actuation techniques of a multi-robot team. It is necessary to address problems of task planning and allocation, coordinated execution of the navigation, perception of the environment from multiple views from each of the team members, maintaining communication between all system components – robots, infrastructure, bridges, monitoring equipment, etc.

This project will address new goals and challenges for research and their application in real, large and complex scenarios.

EURON, European Robotics Network

European network of excellence of Robotic Labs.

European network of excellence of Robotic Labs.

Key Technologies

Information and Communication Technologies

Development of novel algorithms and methods

Development of novel algorithms and methods for:

  1. Developing autonomous robotic vehicles (UGV), integrating techniques for robust and safe motion planning and...

Development of novel algorithms and methods for:

  1. Developing autonomous robotic vehicles (UGV), integrating techniques for robust and safe motion planning and navigation in dynamic environments, vehicle self-localization, geometrical and topological maps building, and environment recognition, learning and understanding
  2. Developing advanced and robust perception systems, based on based on onboard or in infrastructure monocular or stereo cameras, and other as rangefinder and RGBD sensors, integrating their processed information to recognize objects and places in real-world environments,
  3. Developing complex and cooperative multi-robot systems, including techniques for task planning and allocation, coordinated navigation and perception, optimal robot deployment in presence of constraints, such as static or moving obstacles and limited communication range, for maintaining the networked system (robot-robot and robots-central station) connectivity by using MANETS, adapting their behaviours to the changing environment.
  4. Human-robot interaction, detecting individual or group behaviours from the perception systems to make decisions and adapt each robot or robot team behaviours to the detected changes.
  5. Developing computational models and cognitive capabilities and learning for robots, which improve their skills, performance and adaptability with time, for autonomous navigation and for object manipulation. Acquisition of skills through exploration and active techniques. Computational models for learning processes based on statistical techniques.
  6. Control of devices based on neurorobotic and neuroprosthetic interfaces, applied to machine control (wheelchair, other devices), to rehabilitation of the human motion (prosthetic, orthosis) for impaired people or to functional compensation of motor disorders in activities of daily living for impaired or elderly and dependent people in order to increase their autonomy and adapting them to their specific needs. Biosignals such as EEG and EMG measurements and motion and force sensors are integrated to estimate the state of the people and to control the wearable devices.

Success Cases

Information and Communication Technologies

TITAM_ie (Intelligent Technologies for indoor and outdoor goods autonomous transportation

Proyecto: Spanish Technological funds project ID-20110855: TITAM_ie (Intelligent Technologies for indoor and outdoor goods autonomous transportation. 2011-2013. Financiado por Acciona...

Proyecto: Spanish Technological funds project ID-20110855: TITAM_ie (Intelligent Technologies for indoor and outdoor goods autonomous transportation. 2011-2013. Financiado por Acciona Infraestructuras-Fondos Tecnológicos CDTI. Desarrollo de un vehículo autónomo para el transporte de material en parques industrials. Desarrollo de los sistemas de percepción, localización, mapeo y navegación autónoma de un robot móvil. Objetivo: navegación robusta en entornos reales y extensos.

Bin-picking for industrial manipulator. IPT-2012-0143-020000

IPT-2012-0143-020000. System for selecting and extracting randomly pieces in a container, using a vision system for localisation and a robotic system for extraction.

IPT-2012-0143-020000. System for selecting and extracting randomly pieces in a container, using a vision system for localisation and a robotic system for extraction.

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