Ing. Vítězslav Beran, Ph.D.

Robust & Safe Mobile Co-operative Autonomous Systems

Czech title:Robust & Safe Mobile Co-operative Autonomous Systems
Research leader:Smrž Pavel
Team leaders:Beran Vítězslav
Team members:Baizid Khelifa, Ila Viorela S., Rozman Jaroslav, Šolony Marek, Zemčík Pavel
Agency:Artemis Joint Undertaking
Keywords:robotics, embedded systems
Safe and robust autonomous systems are one of the - if not the - most important instantiation of
embedded systems in middle-range future, simply because the application domains are extremely
manifold, from transportation over manufacturing to farming, surveillance (in-door, land, air, and sea)
to care as well as entertainment. Consequently, at the ARTEMIS SummerCamp 2009, the Strategy
Group identified "Autonomous Systems" as one of the targets of the next ARTEMIS SRA.
However, today a large number of different approaches and platforms exist, rendering an economic
realisation of such systems currently unrealistic (perhaps besides the manufacturing domain, where
robots are already industrially exploited). Simultaneously, as such systems increasingly share
environment - and even closely cooperate - with humans, there is an urgent need for providing any
possible means and measures to assert and guarantee their dependability, in particular safety and
robustness. While a huge log of analysing and testing strategies and methods for conventional systems
exist, these are of limited value for mobile autonomous systems with complex sensors and behaviour.
Hence, R3-COP will progress autonomous systems in two directions: technology and methodology.
Technology: R3-COP will develop a fault-tolerant high-performance processing platform, based on a
multi-core architecture, as well as innovative system components for robust perception of the
environment including sensor fusion, and for reasoning and reliable action control. Energy-efficient
drivetrains will also be considered.
Methodology: a methodology-based development framework will enable economic development of
reference platforms for various robotic application domains as well as dedicated solutions. A tool
platform will allow for guarded application of the design methodology, including new test strategies
and tools.
The outcomes will be applied in a series of demonstrators from ground-based, airborne and
underwater domains.


2013Open Graphics Post-Processing, software, 2013
Authors: Kučiš Michal, Zemčík Pavel
2012Obstacle avoidance module for robotic systems, software, 2012
Authors: Rozman Jaroslav, Luža Radim, Baizid Khelifa, Beran Vítězslav
 R3-COP Knowledge Base, software, 2012
Authors: Chmelař Petr, Dalgaard Lars, Smrž Pavel, Zemčík Pavel
 Simulator of Camera Features, software, 2012
Authors: Kučiš Michal, Zemčík Pavel
2010Automatic robot localization based on visual and range sensors, software, 2010
Authors: Šolony Marek
 Obstacle detector for robotic systems based on visual and range sensor fusion, software, 2010
Authors: Svoboda Pavel, Beran Vítězslav
 Recording system of robotic data for several synchronized sensors, software, 2010
Authors: Šolony Marek, Maršík Lukáš
 3D model reconstruction from point clouds, software, 2010
Authors: Hulík Rostislav, Španěl Michal


2013HULÍK Rostislav, ŠPANĚL Michal, MATERNA Zdeněk and SMRŽ Pavel. Continuous Plane Detection in Point-cloud Data Based on 3D Hough Transform. Journal of Visual Communication and Image Representation. Amsterdam: Elsevier Science, 2013, vol. 25, no. 1, pp. 86-97. ISSN 1047-3203.
 ILA Viorela S., POLOK Lukáš, SMRŽ Pavel, ŠOLONY Marek and ZEMČÍK Pavel. Incremental Cholesky Factorization for Least Squares Problems in Robotics. In: Proceedings of The 2013 IFAC Intelligent Autonomous Vehicles Symposium. Gold Coast: IEEE Computer Society, 2013, pp. 1-8. ISBN 978-3-902823-36-6.
 KUČIŠ Michal, ZEMČÍK Pavel, ZENDEL Oliver and HERZNER Wolfgang. Overview of Simulation of Video-Camera Effects for Robotic Systems in R3-COP. In: Computer Safety, Reliability, and Security - 32nd International Conference. Toulouse: Springer Science+Business Media B.V., 2013, pp. 1-8. ISBN 2-907801-09-0.
 POLOK Lukáš, ILA Viorela S. and SMRŽ Pavel. Cache Efficient Implementation for Block Matrix Operations. In: Proceedings of the 21st High Performance Computing Symposium (HPC'13). San Diego: Association for Computing Machinery, 2013, pp. 698-706. ISBN 1-56555-350-0.
 POLOK Lukáš, ILA Viorela S., ŠOLONY Marek, ZEMČÍK Pavel and SMRŽ Pavel. Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications. In: Proceedings of 2013 IEEE International Conference on Robotics and Automation. Karlsruhe: IEEE Computer Society, 2013, pp. 123-131. ISBN 978-1-4673-5642-8.
2012HULÍK Rostislav and KRŠEK Přemysl. Local Projections Method and Curvature Approximation on 3D Polygonal Models. In: Communications proceedings of WSCG. Plzen: Department of Computer Graphics and Multimedia FIT BUT, 2012, pp. 223-230. ISBN 978-80-86943-79-4.
 KUČIŠ Michal and ZEMČÍK Pavel. Simulation of Camera Features. In: Proceedings of the 16th Central European Seminar on Computer Graphics. Smolenice: Technical University Wien, 2012, pp. 117-123. ISBN 978-3-9502533-4-4.
 LUŽA Radim, ROZMAN Jaroslav and ZBOŘIL František V. Robotic Arm Controlling in ROS Environment. In: CSSim. Brno: Brno University of Technology, 2012, pp. 61-66. ISBN 978-80-214-4576-5.
 NAVRÁTIL Jan, KOBRTEK Jozef and ZEMČÍK Pavel. A Survey on Methods for Omnidirectional Shadow Rendering. Journal of WSCG. Plzeň: 2012, vol. 20, no. 2, pp. 89-96. ISSN 1213-6972.
 ROZMAN Jaroslav. Proceedings of CSE 2012 International Scientific Conference on Computer Science and Engeneering. In: Proceedings of CSE 2012 International Scientific Conference on Computer Science and Engeneering. Košice: The University of Technology Košice, 2012, pp. 1-10. ISBN 978-80-8143-049-7.
 SCHOITSCH Erwin, HERZNER Wolfgang, ALONSO-MONTES Carmen, CHMELAŘ Petr and DALGAARD Lars. Towards Composable Robotics: The R3-COP Knowledge-Base Driven Technology Platform. In: Computer Safety, Reliability, and Security (2012). Magdeburg: Springer Verlag, 2012, pp. 427-435. ISBN 978-3-642-33674-4. ISSN 0302-9743.
2011MARŠÍK Lukáš. Embedded Radar Signal Processing. In: Proceedings of the 17th Conference STUDENT EEICT 2011. Brno: Brno University of Technology, 2011, pp. 113-117. ISBN 978-80-214-4273-3.
 SCHAFFROTH Patrick and SVOBODA Pavel. Fast corner point detection through machine learning. In: Proceedings of the 17th Conference STUDENT EEICT 2011. Brno: Brno University of Technology, 2011, pp. 537-541. ISBN 978-80-214-4273-3.
 ZEMČÍK Pavel, MARŠÍK Lukáš, ŠIROKÝ Vít, FUČÍK Otto, KORČEK Pavol and ŠUSTEK Jiří. AX32 Low Power Embedded Video Enabled System Using FPGA. In: Proceedings of the 21th Conference on Field Programmable Logic and Applications Workshop. Chania: Institute of Electrical and Electronics Engineers, 2011, p. 2. ISBN 978-0-7695-4529-5.
 ŠOLONY Marek, ŽÁK Pavel, BERAN Vítězslav and ŠPANĚL Michal. CAMERA LOCALIZATION USING INCOMPLETE CHESSBOARD PATTERN. In: Proceedings of the International Conference on Computer Vision Theory and Applications. Algarve: Institute for Systems and Technologies of Information, Control and Communication, 2011, pp. 415-418. ISBN 978-989-8425-47-8.
2010HRADIŠ Michal, BERAN Vítězslav, ŘEZNÍČEK Ivo, HEROUT Adam, BAŘINA David, VLČEK Adam and ZEMČÍK Pavel. Brno University of Technology at TRECVid 2010. In: TRECVID 2010: Participant Notebook Papers and Slides. Gaithersburg, MD: National Institute of Standards and Technology, 2010, p. 11.

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