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Co4Robots SIGNED

Achieving Complex Collaborative Missions via Decentralized Control and Coordination of Interacting Robots

Total Cost €

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EC-Contrib. €

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Partnership

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Project "Co4Robots" data sheet

The following table provides information about the project.

Coordinator
KUNGLIGA TEKNISKA HOEGSKOLAN 

Organization address
address: BRINELLVAGEN 8
city: STOCKHOLM
postcode: 100 44
website: www.kth.se

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Sweden [SE]
 Project website http://www.co4robots.eu/
 Total cost 3˙820˙956 €
 EC max contribution 3˙820˙956 € (100%)
 Programme 1. H2020-EU.2.1.1. (INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT))
 Code Call H2020-ICT-2016-1
 Funding Scheme RIA
 Starting year 2017
 Duration (year-month-day) from 2017-01-01   to  2020-06-30

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    KUNGLIGA TEKNISKA HOEGSKOLAN SE (STOCKHOLM) coordinator 1˙271˙197.00
2    GOETEBORGS UNIVERSITET SE (GOETEBORG) participant 646˙901.00
3    NATIONAL TECHNICAL UNIVERSITY OF ATHENS - NTUA EL (ATHINA) participant 600˙000.00
4    IDRYMA TECHNOLOGIAS KAI EREVNAS EL (IRAKLEIO) participant 535˙000.00
5    ROBERT BOSCH GMBH DE (GERLINGEN-SCHILLERHOEHE) participant 446˙607.00
6    PAL ROBOTICS SL ES (BARCELONA) participant 321˙250.00

Map

 Project objective

Imagine a scenario where multiple robots have been deployed to provide services such as object handling/transportation, or pickup and delivery operations. In such a context, different robots with varying capabilities must be coordinated in order to achieve various multi-tasking procedures. Thus, the effective supervision and coordination of the overall heterogeneous system mandates a decentralized framework that integrates high-level task-planning, low-level motion control and robust, real-time sensing of the robots’ dynamic environment. Current practice is at a great deal based on offline, centralized planning and related tasks are usually fulfilled in a predefined manner: this does not utilize the capabilities of the system to operate efficiently in a dynamic environment. In most cases, sudden changes in the environment, the type of tasks, and the need for coordination, would cause the system to halt, ask for human intervention and restart. Despite the fact that public facilities are in some degree prestructured, the need for a framework for decentralized, real-time, automated task (re)-planning is evident in a twofold manner: (i) it will pave the way to an improved use of resources and a faster accomplishment of tasks inside public facilities and workspaces with high social activity; (ii) it will make an important contribution towards the vision of more flexible multirobot applications in both professional or domestic environments, also in view of the “Industry 4.0” vision and the general need to deploy such systems in everyday life scenarios. Within Co4Robots our goal is to build a systematic methodology to accomplish complex specifications given to a team of potentially heterogeneous robots; control schemes appropriate for the mobility and manipulation capabilities of the considered robots; perceptual capabilities that enable robots to localize themselves and estimate the state of the dynamic environment; and their systematic integration approach.

 Deliverables

List of deliverables.
Milestone Demonstration 1 Documents, reports 2020-03-17 12:20:41
Test Facilities Description & Simulation Environment Documents, reports 2020-03-17 12:20:41
Scenario Definition, Benchmarks & Demonstration Plan Documents, reports 2020-03-17 12:20:42
Platform Architectural Description Documents, reports 2020-03-17 12:20:41
Data Management Plan Open Research Data Pilot 2020-03-17 12:20:41
Co4Robots Platform Implementation Documents, reports 2020-03-17 12:20:41
Baseline localization and environment perception Documents, reports 2020-03-17 12:20:41
Project website Websites, patent fillings, videos etc. 2020-03-17 12:20:42
Load Exchange among Heterogeneous Agents Documents, reports 2020-03-17 12:20:42
Interface for high-level specification Documents, reports 2020-03-17 12:20:41

Take a look to the deliverables list in detail:  detailed list of Co4Robots deliverables.

 Publications

year authors and title journal last update
List of publications.
2018 Alexandros Filotheou, Alexandros Nikou, Dimos V. Dimarogonas
Decentralized Control of Uncertain Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance
published pages: , ISSN: , DOI:
IEEE European Control Conference 2018 2020-03-17
2018 Aggeliki Tsoli, Antonis Argyros
Joint 3D tracking of a deformable object in interaction with a hand
published pages: , ISSN: , DOI:
European Conference on Computer Vision (ECCV 2018) 2020-03-17
2018 Lars Lindemann, Dipankar Maity, John S. Baras, Dimos V. Dimarogonas
Event-triggered Feedback Control for Signal Temporal Logic Tasks
published pages: , ISSN: , DOI:
IEEE Conference on Decision and Control 2020-03-17
2018 Ammar Qammaz, Sokol Kosta, Nikolaos Kyriazis, Antonis Argyros
On the Feasibility of Real-Time 3D Hand Tracking using Edge GPGPU Acceleration
published pages: , ISSN: , DOI:
2020-03-17
2018 Christos K. Verginis, Dimos V. Dimarogonas
Timed abstractions for distributed cooperative manipulation
published pages: 781-799, ISSN: 0929-5593, DOI: 10.1007/s10514-017-9672-7
Autonomous Robots 42/4 2020-03-17
2018 Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas
Improving Multi-Robot Behavior Using Learning-Based Receding Horizon Task Allocation
published pages: , ISSN: , DOI:
Robotics: Science and Systems 2020-03-17
2018 Claudio Menghi, Paola Spoletini, Marsha Chechik, Carlo Ghezzi
Supporting Verification-Driven Incremental Distributed Design of Components
published pages: 169-188, ISSN: , DOI: 10.1007/978-3-319-89363-1_10
In: Russo A., Schürr A. (eds) Fundamental Approaches to Software Engineering. FASE 2018 2020-03-17
2018 Panagiotis Vlantis, Constantinos Vrohidis, Charalampos P. Bechlioulis, and Kostas J. Kyriakopoulos
Robot Navigation in Complex Workspaces Using Harmonic Maps
published pages: , ISSN: , DOI:
IEEE Int. Conf. on Robotics and Automation (ICRA 2018), May 21-25, 2018, Brisbane, Australia 2020-03-17
2018 Leonardo Colombo, Dimos V. Dimarogonas
Optimal Control of Left-Invariant Multi-Agent Systems with Asymmetric Formation Constraints
published pages: , ISSN: , DOI:
IEEE European Control Conference 2018 2020-03-17
2018 Michalis Logothetis, George C. Karras, Shahab Heshmati-alamdari, Panagiotis Vlantis and Kostas J. Kyriakopoulos
A Model Predictive Control Approach for Vision-based Object Grasping via Mobile Manipulator
published pages: , ISSN: , DOI:
IEEE Intelligent Robots and Systems,October, 1-5, 2018, Madrid, Spain 2020-03-17
2018 Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas
Decomposition of finite LTL specifications for efficient multi-agent planning
published pages: 253-267, ISSN: , DOI:
Distributed Autonomous Robotic Systems 2020-03-17
2018 Costas Panagiotakis, Giorgos Karvounas, Antonis Argyros
Unsupervised Detection of Periodic Segments in Videos
published pages: , ISSN: , DOI:
International Conference on Image Processing (ICIP2018) 2020-03-17
2018 Philipp Schillinger, Mathias Bürger, Dimos Dimarogonas
Auctioning over Probabilistic Options for Temporal Logic-Based Multi-Robot Cooperation under Uncertainty
published pages: , ISSN: , DOI:
IEEE International Conference on Robotics and Automation 2020-03-17
2018 Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos
Prescribed Time Scale Robot Navigation
published pages: 1191-1198, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2794616
IEEE Robotics and Automation Letters 3/2 2020-03-17
2018 Claudio Menghi, Sergio Garcia, Patrizio Pelliccione, Jana Tumova
Multi-robot LTL planning under uncertainty
published pages: 399-417, ISSN: , DOI: 10.1007/978-3-319-95582-7_24
2020-03-17
2018 Christos K. Verginis, Alexandros Nikou, Dimos V. Dimarogonas
Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control
published pages: , ISSN: , DOI:
IEEE European Control Conference 2020-03-17
2017 Konstantinos Roditakis, Alexandros Makris, Antonis Argyros
Generative 3D Hand Tracking with Spatially Constrained Pose Sampling
published pages: , ISSN: , DOI:
British Machine Vision Conference (BMVC 2017) 2020-03-17
2018 Philipp Schillinger, Mathias Bürger, Dimos V. Dimarogonas
Simultaneous task allocation and planning for temporal logic goals in heterogeneous multi-robot systems
published pages: 818-838, ISSN: 0278-3649, DOI: 10.1177/0278364918774135
The International Journal of Robotics Research 37/7 2020-03-17
2019 Lars Lindemann, Dimos V. Dimarogonas
Control Barrier Functions for Signal Temporal Logic Tasks
published pages: 96-101, ISSN: 2475-1456, DOI: 10.1109/LCSYS.2018.2853182
IEEE Control Systems Letters 3/1 2020-03-17
2017 Constantinos Vrohidis, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos
Decentralized Reconfigurable Multi-Robot Coordination from Local Connectivity and Collosion Avoidance Specifications
published pages: , ISSN: , DOI:
IFAC 2017 World Congress, Toulouse, France The 20th World Congress of the International Federation of Automatic Control, 9-14 July 2017 2020-03-17
2018 C. P. Bechlioulis, K. J. Kyriakopoulos
Collaborative Multi-Robot Transportation in Obstacle-Cluttered Environments via Implicit Communication
published pages: , ISSN: 2296-9144, DOI:
Frontiers in Robotics and AI 2020-03-17
2018 Pierre-Jean Meyer, Dimos V. Dimarogonas
Compositional abstraction refinement for control synthesis
published pages: 437-451, ISSN: 1751-570X, DOI: 10.1016/j.nahs.2017.10.006
Nonlinear Analysis: Hybrid Systems 27 2020-03-17
2018 Meng Guo, Sofie Andersson, Dimos V. Dimarogonas
Human-in-the-Loop Mixed-Initiative Control Under Termporal Tasks
published pages: , ISSN: , DOI:
IEEE International Conference on Robotics and Automation 2020-03-17
2018 Christos N. Mavridis, Konstantinos Alevizos, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos 2
Human-Robot Collaboration based on Robust Motion Intention Estimation with Prescribed Performance
published pages: , ISSN: , DOI:
ECC 2018 – European Control Conference 2018, Limassol Cyprus, 12-15 June, 2018 2020-03-17
2018 Lars Lindemann, Dimos V. Dimarogonas
Decentralized Robust Control of Coupled Multi-Agent Systems under Local Signal Temporal Logic Tasks
published pages: , ISSN: , DOI:
American Control Conference 2020-03-17
2018 Shanxin Yuan, Guillermo Garcia-Hernando, Bjorn Stenger, Gyeongsik Moon, Ju Yong Chang, Kyoung Mu Lee, Pavlo Molchanov, Jan Kautz, Sina Honari, Liuhao Ge, Junsong Yuan, Xinghao Chen, Guijin Wang, Fan Yang, Kai Akiyama, Yang Wu, Qingfu Wan, Meysam Madadi, Sergio Escalera, Shile Li, Dongheui Lee, Iason Oikonomidis, Antonis Argyros, Tae-Kyun Kim
Depth-Based 3D Hand Pose Estimation: From Current Achievements to Future Goals
published pages: , ISSN: , DOI:
IEEE Computer Vision and Pattern Recognition (CVPR 2018) 2020-03-17
2017 C. Vrohidis, C. P. Bechlioulis, K. J. Kyriakopoulos
Safe Decentralized and Reconfigurable Multi-agent Control with Guaranteed Convergence
published pages: pp. 267-272, ISSN: , DOI:
2017 IEEE International Conference on Robotics and Automation, Singapore 2020-03-17
2018 Constantinos Vrohidis, Panagiotis Vlantis, Charalampos P. Bechlioulis and Kostas J. Kyriakopoulos
Prescribed Time Scale Robot Navigation in Dynamic Environments
published pages: , ISSN: , DOI:
ECC 2018 – European Control Conference 2018, Limassol Cyprus, June 12-15, 2018 2020-03-17
2018 Costas Panagiotakis, Konstantinos Papoutsakis, Antonis Argyros
A graph-based approach for detecting common actions in motion capture data and videos
published pages: 1-11, ISSN: 0031-3203, DOI: 10.1016/j.patcog.2018.02.001
Pattern Recognition 79 2020-03-17
2017 Paul Rousse, Pierre-Jean Meyer, Dimos V. Dimarogonas
Using progress sets on non-deterministic transition systems for multiple UAV motion planning * *This work was supported by the H2020 ERC Starting Grant BUCOPHSYS, the EU H2020 AEROWORKS project, the EU H2020 Co4Robots project, the Swedish Foundation for Strategic Research, the Swedish Research Council and the KAW Foundation
published pages: 15977-15982, ISSN: 2405-8963, DOI: 10.1016/j.ifacol.2017.08.1752
IFAC-PapersOnLine 50/1 2020-03-17

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