tourbot - interactive museum tele- presence through robotic avatars wolfram burgard department of...

TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars

Wolfram Burgard

Department of Computer Science

University of Freiburg

TOURBOT Coordinator:

Panos Trahanias Institute of Computer Science

Foundation for Research and Technology - HellasHeraklion, Crete, [email protected]

http://www.ics.forth.gr/tourbot

Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot


TOURBOT Consortium

Foundation for Research and Technology - Hellas (FORTH - Technical)

University of Freiburg (UNIFR - Technical) Foundation of the Hellenic World (FHW - Broker / End-

User) University of Bonn (UNIBONN - Technical) Theon Mobile Platforms SA (THEON - Technical) Deutsches Museum Bonn (MUSBON - End-User) Byzantine and Christian Museum of Athens (BYZMUS -

End-User)



TOURBOT Data

Key Action 3 Action Line 3-2-3 Duration 24 m (01/01/2000 - 31/12/2001) Budget 1,718,150, EU contribution 1,088,790

RTD Project Funded by EU-IST Programme



TOURBOT Concept

Remote “representative” of the user• Based on mobile robotic platforms equipped

with sensors and connected to Internet• Controlled over the Web• Able to navigate autonomously and reliably• Transmitting multimedia data to remote users

Tele-presence in museums through robotic avatars

(TOUr-guide RoBOTs)

See Through the Eyes of the Robot



TOURBOT Goals

Development of an interactive tour-guide robot able to provide individual access to museums' exhibits and cultural heritage over the Internet.

Operate as the user's avatar in the museum by accepting commands over the web that direct it to move in its workspace and visit specific exhibits.

Act as a flexible, on-site museum-guide.



TOURBOT Design



TOURBOT Objectives

develop a robotic avatar with advanced navigation capabilities that will be able to move (semi)autonomously in the museum's premises,

develop appropriate web interfaces to the robotic avatar that will realize distant-user's telepresence, i.e facilitate scene observation through the avatar's eyes,

facilitate personalized and realistic observation of the museum exhibits,

enable on-site, interactive museum tour-guides.



TOURBOT System

Technical point of view

TOURBOT Kick-off MeetingEnvironment

Mobile Platform

Navigation SW

System AdministratorInformation and

Data Base

Remote User

On-site User

WWW

Off-boardWorkstation

Data Link

Platform bus

Wireless Link

ISDN Link

Processing& Control UnitTHEON

Sensors

FORTHUNIBONN

UNIFR

FHWUNIFR

UNIBONN

FHWUNIFR

UNIBONN

UNIBONNUNIFR

MUSBONBYZMUS



Problem: Avatar Navigation

Reactive navigation - Obstacle avoidance

Robot ModelSonars

Laser

Admissible

motion command



WP6: Avatar Navigation

Targeted navigation - Move to a point on-line path planning cooperation with obstacle avoidance module fast recovery when entire passages are blocked



TOURBOT Telepresence

allows individual accessand control

provides on-line images to a large set of users

presents high-resolution images

integrates multi-media information



WP4: Site Information

Map Building Completed.Robot Used (James)

James at work

BYZMUS

FHW



WP4: Site InformationC

onst

ruct

ed M

aps

FHW

BY

ZM

US

MU

SB

ON



TOURBOT Deliverables

Del. Name Delivery (month)

D1 Project Presentation 4

D2 Dissemination and Use Plan 5

D3 Operational Requirements 6

D4 TOURBOT Design 6

D5 Site Information 9

D6 Robotic Platform Hardware 15

D7 Workstation Hardware / Communications 15

D8 TOURBOT Navigation 15

D9 TOURBOT Web Interface 15

D10 TOURBOT On-board Interface 15

D11 Hardware and Software Integration 20

D12 TOURBOT Validation 24

D13 Technological Implementation Plan 24



TOURBOT Workpackages

WP1 - Project Management WP2 - Dissemination and Implementation WP3 - Application Specification WP4 - Site Information WP5 - Hardware Configuration WP6 - Avatar Navigation WP7 - Interfaces WP8 - Integration WP9 - Assessment and Evaluation



ID WP/Task WP/Task name

1 1 Project Management

2 2 Dissemination and Implementation

3 3 Application Specification

4 3.1 Operational Requirements

5 3.2 Application Design

6 M1 Milestone 1

7 4 Site Information

8 4.1 Methodology for map construction

9 4.2 On-site map building

10 4.3 Multimedia information

11 5 Hardware Configuration

12 5.1 Mobile platform

13 5.2 Sensors

14 5.3 Processing power and communication H/W

15 6 Avatar Navigation

16 6.1 Reactive navigation

17 6.2 Targeted navigation

18 7 Interfaces

19 7.1 Web inteface

20 7.2 On-board interface

21 M2 Milestone 2

22 8 Integration

23 8.1 Parts integration

24 8.2 Verification tests

25 8.3 Final tuning

26 M3 Milestone 3

27 9 Assessment and Evaluation

28 9.1 On-site validation

29 9.2 Web validation

30 M4 Milestone 4

M-3 M-2 M-1 M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 M12 M13 M14 M15 M16 M17 M18 M19 M20 M21 M22 M23 M24 M25

Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4

TOURBOT Gantt Chart



Concluding Remarks

TOURBOT has completed 6m - project resources utilized as planned

Project related activities are progressing smoothly & satisfactorily Progress in WPs in pace with scheduled time plan (extra

activities pursued) Professional accomplishment of tasks Positive future prospects (no obstacles) Prominent (initial) dissemination activities Concrete dissemination & exploitation plans



TOURBOT

THANKS FOR YOUR ATTENTION

tourbot - interactive museum tele- presence through robotic avatars wolfram burgard department of...

Documents

tourbot telepresence

tourbot design slide

tourbot objectives

museum exhibits

interactive museum tourguides

user slide

tourbot consortium foundation

remote users telepresence