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On this page you may find the list of publications related to TRaVERSE. Each publication is followed by a brief description of the work done and presented in that publication. It also shows how it fits within the aims of the project.
1. A. Ahmad and H. Bülthoff, Moving-horizon nonlinear least squares-based multirobot cooperative perception, in 7th European Conference on Mobile Robots (ECMR 2015), Lincoln, United Kingdom, September 2015.
- A highly scalable method for multirobot cooperative perception was developed. The core of this method is based on pose-graph optimization, where the state estimation problem is considered as a weakly connected graph of nodes (representing poses to be estimated) and edges (measurements that constraint those states). Such a formulation is highly preferred because it provides near-optimal estimates under assumptions of good initialization conditions. However, it also generally leads to a computationally heavy optimization problem that is neither feasible to run in realtime nor is scalable. Therefore, in order to achieve run-time feasibility and scalability in an optimization-based scheme, we studied a moving horizon-based estimation approach integrated with a nonlinear least squares based minimization (the latter is the core optimization scheme). We found that for such an integrated estimator to be asymptotically stable and convergent the most important criteria lies in the proper design of the arrival cost function. Subsequently, we developed an optimization-based estimator for multirobot cooperative perception that not only runs in real-time and is scalable but is also asymptotically stable and convergent. We implemented and rigorously tested this method on a publicly available rich dataset from a team of four soccer robots in an environment where they have to localize and track a standard soccer ball. Currently we are extending this implementation to a team of aerial vehicles.
- This work was published as a peer-reviewed conference paper in the European Conference on Mobile Robots (ECMR) 2015, Lincoln, United Kingdom. It was selected for an oral presentation. Acceptance rate for the oral presentation papers was approximately 21%.
- The paper was also selected as one of the best papers (among top 10) presented in ECMR 2015 and was invited for publication in Robotics and Autonomous Systems (RAS) Journal.
- This works completes the theoretical aspects of one of the two major objectives of this project, which is to develop highly scalable perception functionality for a multirobot team. From a practical standpoint, what remains is its implementation on a team of aerial robots localizing and tracking targets on which we are currently working.
2. A. Ahmad and P. Lima, Dataset suite for benchmarking perception in robotics, in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Workshop: Open forum on evaluation of results, replication of experiments and benchmarking in robotics research, Hamburg, Germany, September 2015.
- We created a multirobot perception dataset suite. This suite consists of robot-centric sensor data, external ground truth information and several pre-processed information on top of the raw sensor data. This dataset suite will be instrumental in further developing and testing extended versions of cooperative perception functionalities. Along with the dataset, the suite also consists of accessing and benchmarking software tools that were developed by the research fellow. The dataset suite is made publicly available for download with very detailed usage instructions [3,4,5]. Overall, this is not only a (unforeseen) significant contribution made during this project's execution but is also a transparent and easy platform for other researchers in our field to be able to reproduce, compare and benchmark our method with theirs. This contribution was disseminated to the research community in a workshop at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2015, Hamburg, Germany.
3. D. Sanz, A. Ahmad, and P. Lima, Onboard robust person detection and tracking for domestic service robots, in Second Iberian Robotics Conference (ROBOT’2015), Lisbon, Portugal, November 2015.
For the complete publication lists of the Researcher and Scientist-in-Charge, Please follow the links below.
