Mobile Robotics: Enabling a Pervasive Technology of the Future

移动机器人：实现未来的普及技术

• 批准号: EP/M019918/1
• 负责人: Paul Newman
• 金额: $ 636.03万
• 依托单位: University of Oxford
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2015
• 资助国家: 英国
• 起止时间: 2015 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FM019918%2F1
• 关键词: Mobile; Robotics; Enabling; Pervasive; Technology

VISION: To create, run and exploit the world's leading research programme in mobile autonomy addressing fundamental technical issues which impede large scale commercial and societal adoption of mobile robotics.AMBITION: We need to build better robots - we need them to be cheap, work synergistically with people in large, complex and time-changing environments and do so for long periods of time. Moreover, it is essential that they are safe and trusted. We are compelled as researchers to produce the foundational technologies that will see robots work in economically and socially important domains. These motivations drive the science in this proposal. STRATEGY: Robotics is fast advancing to a point where autonomous systems can add real value to the public domain. The potential reach of mobile robotics in particular is vast, covering sectors as diverse as transport, logistics, space, defence, agriculture and infrastructure management. In order to realise this potential we need our robots to be cheap, work synergistically with people in large, complex and time-changing environments and do so robustly for long periods of time. Our aim, therefore, is to create a lasting, catalysing impact on UKPLC by growing a sustainable centre of excellence in mobile autonomy. A central tenet to this research is that the capability gap between the state of the art and what is needed is addressed by designing algorithms that leverage experiences gained through real and continued world use. Our machines will operate in support of humans and seamlessly integrate into complex cyber-physical systems with a variety of physical and computational elements. We must, therefore, be able to guarantee, and even certify, that the software that controls the robots is safe and trustworthy by design. We will engage in this via a range of flagship technology demonstrators in different domains (transport, logistics, space, etc.), which will mesh the research together, giving at once context, grounding, validation and impact.

愿景：为了解决大规模的商业和社会采用移动机器人的基本技术问题，创建，运行和利用移动自治领域领先的研究计划。而且，必须安全和信任。作为研究人员，我们被迫生产基础技术，这些技术将使机器人在经济和社会上重要的领域中起作用。这些动机推动了这一建议中的科学。策略：机器人技术正在快速前进到一个自主系统可以为公共领域增加实际价值的地步。特别是移动机器人技术的潜在影响力是广阔的，涵盖了运输，物流，空间，国防，农业和基础设施管理等各种部门。为了意识到这一潜力，我们需要机器人便宜，并与大型，复杂和改变时间的环境协同工作，并在长时间内做到这一点。因此，我们的目标是通过发展一个可持续的移动自治中心，对UKPLC产生持久的，催化的影响。这项研究的一个核心宗旨是，通过设计算法来利用通过真实和持续的世界使用获得的经验来解决艺术状态与需要的能力差距。我们的机器将运行以支持人类，并无缝整合到具有各种物理和计算元素的复杂网络物理系统中。因此，我们必须能够保证甚至证明控制机器人的软件是安全且可信赖的。我们将通过在不同领域（运输，物流，空间等）中的一系列旗舰技术演示者进行参与，这些旗舰技术示威者将将研究融合在一起，立即给予地下文，基础，验证和影响。

项目成果

ArXiv e-prints

ArXiv 电子印刷品

• 发表时间: 2017
• 期刊: Geometric Multi-Model Fitting with a Convex Relaxation Algorithm
• 作者: Amayo P

What goes around: leveraging a constant-curvature motion constraint in radar odometry

发生了什么：利用雷达里程计中的恒定曲率运动约束

• 发表时间: 2022
• 期刊: IEEE Robotics and Automation Letters, 7(3), 7865-7872
• 作者: Aldera R

Approximate Policy Iteration for Markov Decision Processes via Quantitative Adaptive Aggregations

通过定量自适应聚合进行马尔可夫决策过程的近似策略迭代

• 发表时间: 2016
• 作者: Abate A

A unified representation for application of architectural constraints in large-scale mapping

大规模测绘中架构约束应用的统一表示

• DOI: 10.1109/icra.2016.7487267
• 发表时间: 2016
• 作者: Amayo P

What Could Go Wrong? Introspective Radar Odometry in Challenging Environments

• DOI: 10.1109/itsc.2019.8917111
• 发表时间: 2019-01-01
• 期刊: 2019 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC)
• 作者: Aldera, Roberto;De Martini, Daniele;Newman, Paul
• 通讯作者: Newman, Paul