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Mobile Robotics and Olfaction Lab
The focus of our attention is on
perception systems for mobile robots.
Our goal is
the theoretical and practical foundations
that allow mobile robots to operate in an unconstrained, dynamic environment.
that we develop
address real-world needs
and are typically characterized by fusion of different sensor modalities.
the results of our research work
are timely integrated in industrial demonstrators.
Our research is organized along two major strands
in the areas of mobile robotics and artificial olfaction.
Research in Mobile Robotics is aimed at
autonomous and safe long-term operation in real world scenarios.
Industrial relevance and technology transfer of our research results
is facilitated through collaborative projects with industrial partners
in the area of professional service robots for autonomous transportation ("logistics robots").
These collaborative projects deal with
robotic forklifts in warehouses,
robotic wheel loaders on asphalt production sites,
underground mining vehicles and
garbage bin collecting robots in public areas
as well as robotic systems to unload containers.
Artificial and Mobile Robot Olfaction
Artificial Olfaction is the science of gas sensing with artificial sensor systems.
We study in particular open sampling systems
where the gas sensors are directly exposed to the environment.
Open sampling systems are opposed to common laboratory setups,
which use sophisticated sampling systems to keep parameters such as
air flow, temperature, humidity and concentration of the chemical compound
constant over a prolonged time.
For most real-world applications this is not possible.
By addressing the corresponding challenges
our goal is to
develop artificial olfaction solutions,
particularly for open sampling gas sensor systems.
Combining artificial olfaction and mobile robotics,
we are developing the foundations for Mobile Robot Olfaction
where it is our goal
to further develop systems
known as "electronic nose" (e-nose)
towards a "mobile nose" (m-nose).
Application domains of interest include gas sensor networks and mobile robots for surveillance of landfill sites, monitoring of air pollution and gas leak detection and localization.
Our research can be described by three partially overlapping research themes.
Rich 3D Perception
In this theme we consider algorithms
to create a consistent world model
from 3D data
augmented with additional information (these additional dimensions can include: colour, reflectivity, temperature, semantic information).
fusion of visual and range information,
6DOF scan registration,
change detection and
in 3D and rich 3D data.
Work in the Robot Vision theme concerns
appearance-based approaches to
and visual SLAM.
The basic modalities investigated are perspective and omni-directional cameras and 3D laser range-finders.
Mobile Robot Olfaction
This theme is concerned with different aspects of airborne chemical sensing with mobile robots in unconstrained environments
and also relates to networks of stationary gas sensors.
gas discrimination and quantification with open sampling systems,
statistical gas distribution modelling
and gas source localization.
The Mobile Robotics and Olfaction Lab is one of two research groups
within the Centre of Applied Autonomous Sensor Systems (AASS).
We are currently 20 highly motivated researchers (10 Ph.D. students, 10 senior researchers)
from 10 different countries.
Further details can be found under the item "People" in the menu on the left side of this page.
National: Atlas Copco,
Kollmorgen / Danaher Motion Särö,
Linde Material Handling,
International: Berthold Vollers GmbH (Germany),
Qubiqa A/S (Denmark).
Key Collaborative Projects
We are currently working in seven collaborative projects (ordered by starting date):
SPENCER - Social Situation-aware Perception and Action for Cognitive Robots:
Apr 1, 2013 – Mar 31, 2016; funded by the EC (EU 7FP IP).
SAVIE - Safe Autonomous Vehicles for Industrial Environments:
Mar 1, 2011 – Feb 28, 2014; funded by KKS and Robotdalen.
RobLog - Cognitive Robot for Automation of Logistic Processes:
Feb 1, 2011 – Jan 31, 2015; funded by the EC (EU 7FP IP).
SAUNA - Leading Edge Research in Safe Autonomous Navigation:
Jan 1, 2011 – Dec 31, 2013; funded by KKS.
Gasbot - Monitoring of Landfill Sites with a Gas-Sensitive Mobile Robot:
Jan 1, 2011 – Dec 31, 2013; funded by Robotdalen.
ALL-4-eHAM - Autonomous Wheel Loaders For Efficient Handling of Heterogeneous Materials:
Apr 1, 2009 – Mar 31, 2012; funded by KKS, Vinnova and Robotdalen.
HANDLE - Developmental Pathway Towards Autonomy and Dexterity in Robot In-Hand Manipulation:
Feb 1, 2009 – Jan 31, 2013; funded by the EC (EU 7FP IP).
Diadem - Distributed Information Acquisition and Decision-Making for Environmental Management:
Sep 1, 2008 – May 31, 2011; funded by the EC (EU 7FP STREP).
MALTA - Multiple Autonomous Forklifts for Loading and Transportation Applications:
Jan 1, 2008 – Dec 31, 2010; funded by KKS and Robotdalen.
Dustbot - Networked and Cooperating Robots for Urban Hygiene:
Dec 1, 2006 – Jan 30, 2010; funded by the funded by the EC EU 6FP STREP.
Good Use Declaration
Regarding the intended applications that we target,
we feel indebted to the Uppsala Code of Ethics for Scientists.
Our aim is ultimately to free humans from dull and dangerous tasks
(as phrased by Norbert Wiener: "the human use of human beings")
and to understand perceptual, biological and physical processes through the help of robots.
We are aware that our results may have also other, less beneficial, applications
and therefore declare that it is strictly prohibited to use or to develop,
in a direct or indirect way,
any of our scientific contributions
by any army or armed group in the world,
for military purposes and for any other use which is against human rights or the environment.
Achim J. Lilienthal