SQUIRREL
Clearing Clutter Bit by Bit
| Coordinatore | TECHNISCHE UNIVERSITAET WIEN
Organization address
address: Gusshausstrasse 27-29/E376 contact info |
| Nazionalità Coordinatore | Austria [AT] |
| Totale costo | 8˙476˙755 € |
| EC contributo | 6˙359˙989 € |
| Programma | FP7-ICT
Specific Programme "Cooperation": Information and communication technologies |
| Code Call | FP7-ICT-2013-10 |
| Funding Scheme | CP |
| Anno di inizio | 2014 |
| Periodo (anno-mese-giorno) | 2014-02-01 - 2018-01-31 |
Partecipanti
| # | ||||
|---|---|---|---|---|
| 1 |
TECHNISCHE UNIVERSITAET WIEN
Organization address
address: Gusshausstrasse 27-29/E376 contact info |
AT (Wien) | coordinator | 0.00 |
| 2 |
ALBERT-LUDWIGS-UNIVERSITAET FREIBURG
Organization address
address: FAHNENBERGPLATZ contact info |
DE (FREIBURG) | participant | 0.00 |
| 3 |
FESTO DIDACTIC GMBH & CO KG
Organization address
address: RECHBERGSTRASSE 3 contact info |
DE (DENKENDORF) | participant | 0.00 |
| 4 |
FRAUNHOFER GESELLSCHAFT ZUR FORDERUNG DER ANGEWANDTEN FORSCHUNG EV
Organization address
address: HANSASTRASSE 27C contact info |
DE (MUENCHEN) | participant | 0.00 |
| 5 |
IDMIND - ENGENHARIA DE SISTEMAS LDA
Organization address
address: ESTRADA DO PACO DO LUMIAR - POLO TECNOLOGICO DE LISBOA LOTE contact info |
PT (LISBOA) | participant | 0.00 |
| 6 |
KING'S COLLEGE LONDON
Organization address
address: Strand contact info |
UK (LONDON) | participant | 0.00 |
| 7 |
PADAGOGISCHE INITIATIVE 2-10
Organization address
address: OBERE DONAUSTRASSE 79 contact info |
AT (WIEN) | participant | 0.00 |
| 8 |
RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN
Organization address
address: REGINA PACIS WEG 3 contact info |
DE (BONN) | participant | 0.00 |
| 9 |
UNIVERSITAET INNSBRUCK
Organization address
address: INNRAIN 52 contact info |
AT (INNSBRUCK) | participant | 0.00 |
| 10 |
UNIVERSITEIT TWENTE
Organization address
address: DRIENERLOLAAN 5 contact info |
NL (ENSCHEDE) | participant | 0.00 |
Mappa
Word cloud
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Obiettivo del progetto (Objective)
Clutter in an open world is a challenge for many aspects of robotic systems, especially for autonomous robots deployed in unstructured domestic settings, affecting navigation, manipulation, vision, human robot interaction and planning.
SQUIRREL addresses these issues by actively controlling clutter and incrementally learning to extend the robot's capabilities while doing so. We term this the B3 (bit by bit) approach, as the robot tackles clutter one bit at a time and also extends its knowledge continuously as new bits of information become available.SQUIRREL is inspired by a user driven scenario, that exhibits all the rich complexity required to convincingly drive research, but allows tractable solutions with high potential for exploitation. We propose a toy cleaning scenario, where a robot learns to collect toys scattered in loose clumps or tangled heaps on the floor in a child's room, and to stow them in designated target locations.
We will advance science w.r.t. manipulation, where we will incrementally learn grasp affordances with a dexterous hand; segmenting and learning objects and object category models from a cluttered scene; localisation and navigation in a crowded and changing scene based on incrementally built 3D environment models; iterative task planning in an open world; and engaging with multiple users in a dynamic collaborative task.
Progress will be measured in scenarios of increasing complexity, starting with known object classes, via incremental learning of objects and grasp affordances to the full system with failure recovery and active control of clutter, instantiated on two different robot platforms.Systems will be evaluated at an end user site where children in nurseries teach the robot how to clean up, and will be exploited by an industrial partner with a strong market presence in advanced robotic toys, who will take up project outcomes to be integrated in their current line of developments.