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  • 1.
    Cooney, Martin
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Yang, Can
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Arunesh, Sanjana
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Padi Siva, Abhilash
    Högskolan i Halmstad, Akademin för informationsteknologi.
    David, Jennifer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Teaching Robotics with Robot Operating System (ROS): A Behavior Model Perspective2018Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Robotics skills are in high demand, but learning robotics can be difficult due to the wide range of required knowledge, increasingly complex and diverse platforms, and components requiring dedicated software. One way to mitigate such problems is by utilizing a standard framework such as Robot Operating System (ROS), which facilitates development through the reuse of opensource code—a challenge is that learning curves can be steep for students who are also first-time users. In the current paper, we suggest the use of a behavior model to structure the learning of complex frameworks like ROS in an engaging way. A practical example is provided, of integrating ROS into a robotics course called the “Design of Embedded and Intelligent Systems” (DEIS), along with feedback suggesting that some students responded positively to learning experiences enabled by our approach. Furthermore, some course materials, videos, and code have been made available online, which we hope might provide useful insights.

  • 2.
    David, Jennifer
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Mostowski, Wojciech
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Aramrattna, Maytheewat
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Fan, Yuantao
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Varshosaz, Mahsa
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Karlsson, Patrick
    Roden, Marcus
    Bogga, Anders
    Carlsen, Jakob
    Johansson, Emil
    Andersson, Emil
    Design and Development of a Hexacopter for the Search and Rescue of a Lost Drone2019Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Search and rescue with an autonomous robot is an attractive and challenging task within the research community. This paper presents the development of an autonomous hexacopter that is designed for retrieving a lost object, like a drone, from a vast-open space, like a desert area. Navigating its path with a proposed coverage path planning strategy, the hexacopter can efficiently search for a lost target and locate it using an image-based object detection algorithm. Moreover, after the target is located, our hexacopter can grasp it with a customised gripper and transport it back to a destined location. It is also capable of avoiding static obstacles and dynamic objects. The proposed system was realised in simulations before implementing it in a real hardware setup, i.e. assembly of the drone, crafting of the gripper, software implementation and testing under real-world scenarios. The designed hexacopter won the best UAV design award at the CPS-VO 2018 Competition held in Arizona, USA.

  • 3.
    David, Jennifer
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Philippsen, Roland
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Task assignment and trajectory planning in dynamic environments for multiple vehicles2015Inngår i: Frontiers in Artificial Intelligence and Applications, ISSN 0922-6389, E-ISSN 1879-8314, Vol. 278, s. 179-181Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We consider the problem of finding collision-free trajectories for a fleet of automated guided vehicles (AGVs) working in ship ports and freight terminals. Our solution computes collision-free trajectories for a fleet of AGVs to pick up one or more containers and transport it to a given goal without colliding with other AGVs and obstacles. We propose an integrated framework for solving the goal assignment and trajectory planning problem minimizing the maximum cost over all vehicle trajectories using the classical Hungarian algorithm. To deal with the dynamics in the environment, we refine our final trajectories with CHOMP (Covariant Hamiltonian optimization for motion planning) in order to trade off between path smoothness and dynamic obstacle avoidance. © 2015 The authors and IOS Press. All rights reserved.

  • 4.
    David, Jennifer
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Valencia, Rafael
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Iagnemma, Karl
    Massachusetts Institute of Technology, Cambridge, MA, USA.
    Task Assignment and Trajectory Planning in Dynamic environments for Multiple Vehicles2016Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We consider the problem of finding collision-free trajectories for a fleet of automated guided vehicles (AGVs) working in ship ports and freight terminals. Our solution computes collision-free trajectories for a fleet of AGVs to pick up one or more containers and transport it to a given goal without colliding with other AGVs and obstacles. We propose an integrated framework for solving the goal assignment and trajectory planning problem minimizing the maximum cost overall vehicle trajectories using the classical Hungarian algorithm.To deal with the dynamics in the environment, we refine our final trajectories with CHOMP (Covariant Hamiltonianoptimization for motion planning) in order to trade off between path smoothness and dynamic obstacle avoidance.

  • 5.
    David, Jennifer
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Valencia, Rafael
    Carnegie Mellon University, Pittsburgh, USA.
    Philippsen, Roland
    Google Inc..
    Bosshard, Pascal
    ETH Zürich, Zürich, Switzerland.
    Iagnemma, Karl
    Massachusetts Institute of Technology, Cambridge, MA, USA.
    Gradient Based Path Optimization Method for Autonomous Driving2017Inngår i: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), [Piscataway, NJ]: IEEE, 2017, s. 4501-4508Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper discusses the possibilities of extending and adapting the CHOMP motion planner to work with a non-holonomic vehicle such as an autonomous truck with a single trailer. A detailed study has been done to find out the different ways of implementing these constraints on the motion planner. CHOMP, which is a successful motion planner for articulated robots produces very fast and collision-free trajectories. This nature is important for a local path adaptor in a multi-vehicle path planning for resolving path-conflicts in a very fast manner and hence, CHOMP was adapted. Secondly, this paper also details the experimental integration of the modified CHOMP with the sensor fusion and control system of an autonomous Volvo FH-16 truck. Integration experiments were conducted in a real-time environment with the developed autonomous truck. Finally, additional simulations were also conducted to compare the performance of the different approaches developed to study the feasibility of employing CHOMP to autonomous vehicles. ©2017 IEEE

  • 6.
    David, Jennifer
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Valencia, Rafael
    Carnegie Mellon University, Pittsburgh, USA.
    Philippsen, Roland
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Iagnemma, Karl
    Massachusetts Institute of Technology, Cambridge, USA.
    Local Path Optimizer for an Autonomous Truck in a Harbour Scenario2017Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Recently, functional gradient algorithms like CHOMP have been very successful in producing locally optimal motion plans for articulated robots. In this paper, we have adapted CHOMP to work with a non-holonomic vehicle such as an autonomous truck with a single trailer and a differential drive robot. An extended CHOMP with rolling constraints have been implemented on both of these setup which yielded feasible curvatures. This paper details the experimental integration of the extended CHOMP motion planner with the sensor fusion and control system of an autonomous Volvo FH-16 truck. It also explains the experiments conducted on the differential-drive robot. Initial experimental investigations and results conducted in a real-world environment show that CHOMP can produce smooth and collision-free trajectories for mobile robots and vehicles as well. In conclusion, this paper discusses the feasibility of employing CHOMP to mobile robots.

  • 7.
    David, Jennifer
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Valencia, Rafael
    The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA.
    Philippsen, Roland
    Iagnemma, Karl
    Massachusetts Institute of Technology, Cambridge, USA.
    Trajectory Optimizer for an Autonomous Truck in Container Terminal2017Inngår i: ICRA 2017 Workshop on Robotics and Vehicular Technologies for Self-driving cars, 2017Konferansepaper (Fagfellevurdert)
  • 8.
    Taha, Walid
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). Rice University, Houston, Texas, United States.
    Hedström, Lars-Göran
    Högskolan i Halmstad.
    Xu, Fei
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Duracz, Adam
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Bartha, Ferenc A.
    Rice University, Houston, Texas, United States.
    Zeng, Yingfu
    Rice University, Houston, Texas, United States.
    David, Jennifer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS).
    Gunjan, Gaurav
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS).
    Flipping a First Course on Cyber-Physical Systems – An Experience Report2016Inngår i: Proceedings Of The 2016 Workshop On Embedded And Cyber-Physical Systems Education (Wese), New York: ACM Press, 2016Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The flipped classroom format involves swapping activities traditionally performed inside and outside the classroom. The expected effects from this swap include increased student engagement and peer-to-peer interaction in the classroom, as well as more flexible access to learning materials. Key criteria for successful outcomes from these effects include improved test scores and enhanced student satisfaction. Unfortunately, while many researchers have reported positive outcomes from the approach, some instructors can still encounter difficulties in reproducing this success.

    In this paper we report our experiences with flipping a first course on Cyber-Physical Systems at Halmstad University. The course is required for a Masters level program and is available as an elective for undergraduates. The focus of this report is on three separate editions of the course taught over three years. In the first year, lectures were recorded. In the second, the same instructor taught the course using the flipped format. In the third, new instructors taught it using the flipped classroom format.

    Our experience suggests that flipping a classroom can lead to improved student performance and satisfaction from the first edition. It can also enable new instructors to take over the course and perform at a level comparable to an experienced instructor. On the other hand, it also suggests that the format may require more effort to prepare for, and to teach, than the traditional format, and that a higher level of attention to detail is needed to execute it with positive outcomes. Thus, the format can be demanding for instructors. It is also the case that not all students preferred this format.

1 - 8 of 8
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