ROBOTIC

MONITORING

Instituto de Sistemas e Robótica Lisboa (ISR-Lisboa), Feb 11th, 2005

THEME B

SURVEILLANCE

AND

Agenda

1. Approval of Agenda

2. Informationso Web-page/repository

o Re-equipamento (FCT)

3. Recap of Theme B proposal

4. Hiring situation

5. Activities

6. AOB

2. Informations

o Web-page/repository

www.isr.ist.utl.pt/~jasv/temaB

o Re-equipamento (FCT)

Proposal: April 2002

Acceptance notice: August/September 2004

Revised budget: October 2004

Contract preparatin: February 2005.

2.1 Re-equipment Project

ISR – Lisboa Associated Laboratory (1. Jan. 2002):

A. Technologies for Ocean Exploration (ISR/ISR + Creminer + U.Açores)

B. Robot Monitoring and Surveillance (ISR/IST)

C. Sustainable technologies and environmental systems (IN+)

D. Signal Proc. in commun. networks & multimedia (ISR/IST)

3. Recap. Area B

3. Robotic Monitoring and Surveillance

Rationale: Scientific (enabling) disciplinesComputer VisionRobot Navigation and ControlDistributed AI

Application AreasSurveillance of Urban AreasSearch & RescueRobotic Assistant

DeliverablesD1 - Search & RescueD2 – Surveillance of Urban AreasD3 - Robotic Assistant

3. Robotic Monitoring and Surveillance

Figure 1 – Classification of the various projects under execution, as basic discipline/ application domain.

* Possibly include line for basic disciplines not immediately related to applicaitons

Source. Report 2003

3. Robotic Monitoring and Surveillance

D1 - SEARCH AND RESCUE

Year 5 (2006)

In a 5 year horizon, we propose to present a prototype of a robotic system composed by a small number of agents, namely one land and one or two air vehicles able to perform cooperatively a set of relatively simple tasks:

- One aerial robot acquires data of the environmental map of the area in order to inform and assist the navigation of the land vehicle and possibly the other aerial robot towards particular regions, which might be the most critical ones in a rescue application.

- The land vehicle performs simple outdoors navigation tasks on different types of terraincompatible with its locomotion capabilities, and under different environmental conditions (e.g., obstacle density, light conditions).

- One aerial robot performs elementary actions, such as flying towards a pre-defined spot,hovering or keep tracking of a spot on land.

D1 - SEARCH AND RESCUE

Year 10

The activities to be carried out in a 10 years horizon represent an extension of the first 5 years activities towards multi-robot systems with a larger degree of autonomy and of cooperative action:

- The aerial and the land robots cooperate to build a detailed map of the scene under analysis, as well as to help navigation towards a land spot identified as relevant. Both will rely on outdoor multi-sensor navigation techniques. Coherent environment representations must be maintained by the 2- or 3-robot teams.

- One aerial robot flies to the identified relevant location and builds a detailed 3D map usingseveral sensors (e.g., laser, vision) and sensor fusion techniques. This map will be used by the land robot upon its arrival to the location.

- The above multi-robot tasks will be designed based on hybrid systems and logic-basedteamwork techniques, in order to guarantee both qualitative (e.g., avoidance of unsafe statesand/or deadlocks) and quantitative (e.g., reducing travelling time, increasing task reliability)performance, as well as to guarantee logical teamwork consistency.

3. Robotic Monitoring and Surveillance

3. Robotic Monitoring and Surveillance

D2 - SURVEILLANCE OF URBAN AREAS

Year 5 (2006)

We propose to develop monitoring algorithms for the surveillance of urban areas, allowing the interpretation of the video sequences captured by a small number of cooperating cameras, the characterisation of typical traffic patterns as well as trackingof moving objects. This may incorporate agile cameras (i.e. monocular or binocular camera heads), or specially designed catadioptric panoramic cameras. This approach will be a useful tool both for monitoring and security purposes.

The following items will be considered:a) tracking of moving objects in video sequences (e.g., persons and vehicles)b) tracking of object groups in the presence of occlusionsc) identification and detection of behavioursd) data fusion using multiple camerase) geometric representation in a mapf) build statistical information of the motion patternsg) special purpose (e.g. catadioptric panoramic) cameras may be used.

3. Robotic Monitoring and Surveillance

D3 - ROBOTIC ASSISTANT

Year 5 (2006)

We propose to develop a binocular head system incorporating inertial sensors for compensating motion disturbances, thus improving the quality of visual tracking and stabilisation. The head may be attached to a robotic arm, in a humanoid-like arrangement, for short-range manipulation tasks. This system will have the possibility of being remotely operated with high-level task descriptions.

Year 10We propose to develop methodologies for learning and development in artificial systems, similar to those found in infants, in particular to improve visuo-motor coordination. Adaptation, development and learning from own-experience and from observing other robots/humans may be the key for building truly flexible and autonomous systems. The approach will address the following topics:

• Head-eye control and coordination• Understanding of human action/gestures• Developmental approach for overall system design• Attention mechanisms for complexity management• Adaptation to the user and environment

• 10 doutorados– Contratos a termo certo como investigadores por

períodos até 3 anos

– Não são bolsas pós-doc

• 5 Técnicos (3 anos)

– Informática, electrónica, mecânica, ....

• Bolsas para alunos de doutoramento

Novas contratações no LA (ISR/IST, IN+, Creminer, IMAR-Açores)

Programático do ISR/IST

4. Contratações

10

1,5Área D - Communications

2Área C – Desenvolvimento Sustentável

2,5Área B – Monitorização e Vigilância

4Área A – Ciências e Tecn. do Mar

Nº de Dout

As Áreas B e D partilham, em igualdade, um doutorado

• Contratos a termo como Investigador Auxiliar, Investigador Principal ou Investigador Coordenador

• Período: 1 ano, renovável até um máximo de 3 anos• Valor total disponível para contratação de cada Doutorado: 208 260 euros

• Exemplo para Investigador Auxiliar (em 3 anos)• Vencimento em três anos = 165 000 euros (estimativa)• Para despesas associadas ao trabalho = 43 260 euros (estimativa)

4.1 Contratações de Doutorados

• Definir a área de abertura de concurso e os requisitos de formação e de experiência.

• Pedir autorização de abertura de concurso com indicação da composição do júri de avaliação e dos critérios de selecção.

• Ajudar a escrever o edital em inglês.

• Publicitar: Jornal Publico (Secção Pessoal) + e-mails (ISR/IST).

• Apoiar a entrega de documentos por parte de candidatos não portugueses ou não residentes em Portugal.

• Júri analisa candidaturas.

• Secção de Pessoal trata do expediente legal de divulgação dos resultados do concurso.

• Assinatura do contrato.

4.2 Procedimentos para Contratação

• Área do Doutorado 1 ?– ...

• Área do Doutorado 2 ?– ...

• Doutorado a partilhar com a Área D– Critérios de partilha

– Área de trabalho

4.3 Área B – 2,5 Doutorados

5

1Área D - Communications

1Área C – Desenvolvimento Sustentável

1Área B – Monitorização e Vigilância

2Área A – Ciências e Tecn. do Mar

Nº de Técnicos

• Valor total disponível para contratação de cada Técnico: 75000 euros (em 3 anos)

• 1 Técnico para a Área B– Área de trabalho ?

• Procedimento de contratação• Concurso: pedido de abertura, edital, divulgação, análise de candidaturas

4.4 Contratações de Técnicos

• No âmbito do Programático do ISR/IST e com excedentes de verbas de 2003

• Bolsas (por um ano) a estudantes de doutoramento– Após esse ano concorrem aos concursos da FCT

• Há possibilidade de ATÉ 5 bolsas deste tipo

• Procedimentos: – autorização do Director do ISR/IST para abertura de concursos– Procedimentos standard com o IST (Secção Pessoal)– Divulgação– Análise de candidaturas

4.5 Bolsas para Alunos de Doutoramento

5. Planned Activities

1. Thematic Workshop2. Open (demo) Day J.Gaspar3. Visibility /dissemination M.I.Ribeiro

• Mission/brochure• Summer schools (Euron?)• Workshops

4. Public awareness P.Lima• Press releases• Brochures

5. TFC concertation/brainstorm -> Março C.Silvestre

5.1 Thematic Workshop

Goal:1. Dissemination of research work amongst students and researchers 2. Identify cooperation oportunities, description of new projects, calls, etc…

Format

One full day workshop, IST congress center, abstract/PDF paper contributions (home-made proceedings) May 2005? (ICRA – April 18-22, Robotica 2005 1 Maio)

Single track; sessions:Basic disciplines: João SequeiraApplication areas: Alexandre BernardinoPanel/proj. descriptions, etc: Luis Custódio

5.2 Other Activities

Open (demo) day

Visibilitysummer coursesbrochurevisiting speaker

Public Awareness

TFC brainstorm…

6. Conclusions & A.O.B

Contratações (tecnicos+doutorados)– orientar segundo deliverables

preparar editais: mir+jasv+pal+jsm

Workshop - lmmc+jseq+alexdates/sessions/program

TFC party (Março) C.SilvestreOpen (demo) Day J.Gaspar

Robot-Cub Meeting 17-18 March 2005www.robotcub.org