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Kleiner, Alexander
Publications (10 of 72) Show all publications
Sun, D., Kleiner, A. & Nebel, B. (2014). Behavior-based Multi-Robot Collision Avoidance. In: Robotics and Automation (ICRA), 2014: . Paper presented at 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), May 31 - June 7, 2014 Hong Kong, China (pp. 1668-1673). IEEE
Open this publication in new window or tab >>Behavior-based Multi-Robot Collision Avoidance
2014 (English)In: Robotics and Automation (ICRA), 2014, IEEE , 2014, p. 1668-1673Conference paper, Published paper (Refereed)
Abstract [en]

Autonomous robot teams that simultaneously dis- patch transportation tasks are playing a more and more impor- tant role in the industry. In this paper we consider the multi- robot motion planning problem in large robot teams and present a decoupled approach by combining decentralized path planning methods and swarm technologies. Instead of a central coordi- nation, a proper behavior which is directly selected according to the context is used by the robot to keep cooperating with others and to resolve path collisions. We show experimentally that the quality of solutions and the scalability of our method are significantly better than those of conventional decoupled path planning methods. Furthermore, compared to conventional swarm approaches, our method can be widely applied in large- scale environments. 

Place, publisher, year, edition, pages
IEEE, 2014
National Category
Robotics
Identifiers
urn:nbn:se:liu:diva-103187 (URN)10.1109/ICRA.2014.6907075 (DOI)000377221101101 ()978-1-4799-3685-4 (ISBN)
Conference
2014 IEEE International Conference on Robotics and Automation (ICRA 2014), May 31 - June 7, 2014 Hong Kong, China
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Note

Accepted for publication

Available from: 2014-01-14 Created: 2014-01-14 Last updated: 2017-02-21
Bock, A., Kleiner, A., Lundberg, J. & Ropinski, T. (2014). Supporting Urban Search & Rescue Mission Planning through Visualization-Based Analysis. In: Proceedings of the Vision, Modeling, and Visualization Conference 2014: . Paper presented at Vision, Modeling, and Visualization. Eurographics - European Association for Computer Graphics
Open this publication in new window or tab >>Supporting Urban Search & Rescue Mission Planning through Visualization-Based Analysis
2014 (English)In: Proceedings of the Vision, Modeling, and Visualization Conference 2014, Eurographics - European Association for Computer Graphics, 2014Conference paper, Published paper (Refereed)
Abstract [en]

We propose a visualization system for incident commanders in urban search~\&~rescue scenarios that supports access path planning for post-disaster structures. Utilizing point cloud data acquired from unmanned robots, we provide methods for assessment of automatically generated paths. As data uncertainty and a priori unknown information make fully automated systems impractical, we present a set of viable access paths, based on varying risk factors, in a 3D environment combined with the visual analysis tools enabling informed decisions and trade-offs. Based on these decisions, a responder is guided along the path by the incident commander, who can interactively annotate and reevaluate the acquired point cloud to react to the dynamics of the situation. We describe design considerations for our system, technical realizations, and discuss the results of an expert evaluation.

Place, publisher, year, edition, pages
Eurographics - European Association for Computer Graphics, 2014
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-117772 (URN)10.2312/vmv.20141275 (DOI)978-3-905674-74-3 (ISBN)
Conference
Vision, Modeling, and Visualization
Projects
ELLIIT; VR; SeRC
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsSwedish e‐Science Research CenterSwedish Research Council, 2011-4113
Available from: 2015-05-08 Created: 2015-05-08 Last updated: 2018-01-11Bibliographically approved
Murphy, R. & Kleiner, A. (2013). A Community-Driven Roadmap for the Adoption of Safety Security and Rescue Robots. In: Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on: . Paper presented at 11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013), 21-26 October 2013, Linköping, Sweden (pp. 1-5). IEEE conference proceedings
Open this publication in new window or tab >>A Community-Driven Roadmap for the Adoption of Safety Security and Rescue Robots
2013 (English)In: Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on, IEEE conference proceedings, 2013, p. 1-5Conference paper, Published paper (Refereed)
Abstract [en]

The IEEE Safety, Security, and Rescue Robotics community has created a roadmap for producing unmanned systems that could be adopted by the Public Safety sector within 10 years, given appropriate R&D investment especially in human-robot interaction and perception. The five applications expected to be of highest value to the Public Safety community, highest value first, are: assisting with routine inspection of the critical infrastructure, “chronic emergencies” such as firefighting, hazardous material spills, port inspection, and damage estimation after a disaster. The technical feasibility of the applications were ranked, with the most attractive scenario, infrastructure inspection, rated as the second easiest scenario; this suggests the maturity of robotics technology is beginning to match stakeholder needs. Each of the five applications were discussed in terms of the six broad enabling technology areas specified in the current National Robotics Initiative Roadmap (perception, human-robot interaction, mechanisms, modeling and simulation, control and planning, and testing and evaluation) and nine specific capabilities identified by the community as being essential to commercialization (communication, alerting, localization, fault tolerance, mapping, manpower needs, plug and play capabilities, multiple users, and multiple robots). The community believes that perception and human-robot interaction are the two biggest barriers to adoption, and require more research, given that their low technical maturity (3rd and 6th rank respectively). However, each of the specific capabilities needed for commercialization are being addressed by current research and could be achieved within 10 years with sustained funding. 

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013
National Category
Robotics
Identifiers
urn:nbn:se:liu:diva-100157 (URN)10.1109/SSRR.2013.6719375 (DOI)978-1-4799-0879-0 (ISBN)
Conference
11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013), 21-26 October 2013, Linköping, Sweden
Funder
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Note

Accepted for Publication.

Available from: 2013-10-30 Created: 2013-10-30 Last updated: 2015-05-28Bibliographically approved
Dornhege, C. & Kleiner, A. (2013). A Frontier-Void-Based Approach for Autonomous Exploration in 3D. Advanced Robotics, 27(6), 459-468
Open this publication in new window or tab >>A Frontier-Void-Based Approach for Autonomous Exploration in 3D
2013 (English)In: Advanced Robotics, ISSN 0169-1864, E-ISSN 1568-5535, Vol. 27, no 6, p. 459-468Article in journal (Refereed) Published
Abstract [en]

We consider the problem of an autonomous robot searching for objects in unknown 3d space. Similar to the well known frontier-based exploration in 2d, the problem is to determine a minimal sequence of sensor viewpoints until the entire search space has been explored. We introduce a novel approach that combines the two concepts of voids, which are unexplored volumes in 3d, and frontiers, which are regions on the boundary between voids and explored space. Our approach has been evaluated on a mobile platform equipped with a manipulator searching for victims in a simulated USAR setup. First results indicate the real-world capability and search efficiency of the proposed method.

Place, publisher, year, edition, pages
Taylor and Francis, 2013
Keyword
3D exploration, next best view, frontier-void
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-72517 (URN)10.1080/01691864.2013.763720 (DOI)000316112500005 ()
Projects
Artificial Intelligence & Integrated Computer Systems
Note

Funding Agencies|Deutsche Forschungsgemeinschaft in the Transregional Collaborative Research Center|SFB/TR8|

Available from: 2011-11-29 Created: 2011-11-28 Last updated: 2017-12-08Bibliographically approved
Dornhege, C., Kleiner, A. & Kolling, A. (2013). Coverage Search in 3D. In: Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on: . Paper presented at 11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013), 21-26 October 2013, Linköping, Sweden (pp. 1-8). IEEE
Open this publication in new window or tab >>Coverage Search in 3D
2013 (English)In: Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on, IEEE , 2013, p. 1-8Conference paper, Published paper (Refereed)
Abstract [en]

Searching with a sensor for objects and to observe parts of a known environment efficiently is a fundamental prob- lem in many real-world robotic applications such as household robots searching for objects, inspection robots searching for leaking pipelines, and rescue robots searching for survivors after a disaster. We consider the problem of identifying and planning efficient view point sequences for covering complex 3d environments. We compare empirically several variants of our algorithm that allow to trade-off schedule computation against execution time. Our results demonstrate that, despite the intractability of the overall problem, computing effective solutions for coverage search in real 3d environments is feasible. 

Place, publisher, year, edition, pages
IEEE, 2013
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:liu:diva-97300 (URN)10.1109/SSRR.2013.6719340 (DOI)978-1-4799-0879-0 (ISBN)
Conference
11th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013), 21-26 October 2013, Linköping, Sweden
Projects
ELLIITCADICSCUASSHERPA
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Note

Accepted for Publication.

Available from: 2013-09-07 Created: 2013-09-07 Last updated: 2018-01-11Bibliographically approved
Kolling, A., Kleiner, A. & Rudol, P. (2013). Fast Guaranteed Search With Unmanned Aerial Vehicles. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013): . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-8, 2013, Tokyo, Japan (pp. 6013-6018). IEEE
Open this publication in new window or tab >>Fast Guaranteed Search With Unmanned Aerial Vehicles
2013 (English)In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), IEEE , 2013, p. 6013-6018Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we consider the problem of searching for an arbitrarily smart and fast evader in a large environment with a team of unmanned aerial vehicles (UAVs) while providing guarantees of detection. Our emphasis is on the fast execution of efficient search strategies that minimize the number of UAVs and the search time. We present the first approach for computing fast search strategies utilizing additional searchers to speed up the execution time and thereby enabling large scale UAV search. In order to scale to very large environments when using UAVs one would either have to overcome the energy limitations of UAVs or pay the cost of utilizing additional UAVs to speed up the search. Our approach is based on coordinating UAVs on sweep lines, covered by the UAV sensors, that move simultaneously through an environment. We present some simulation results that show a significant reduction in execution time when using multiple UAVs and a demonstration of a real system with three ARDrones. 

Place, publisher, year, edition, pages
IEEE, 2013
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
National Category
Computer Systems Robotics
Identifiers
urn:nbn:se:liu:diva-95888 (URN)10.1109/IROS.2013.6697229 (DOI)000331367406013 ()
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-8, 2013, Tokyo, Japan
Projects
ELLIITCUASSHERPA
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Available from: 2013-08-07 Created: 2013-08-07 Last updated: 2017-02-13
Petersen, K., Kleiner, A. & von Stryk, O. (2013). Fast Task-Sequence Allocation for Heterogeneous Robot Teams with a Human in the Loop. In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013): . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-8, 2013, Tokyo, Japan (pp. 1648-1655). IEEE
Open this publication in new window or tab >>Fast Task-Sequence Allocation for Heterogeneous Robot Teams with a Human in the Loop
2013 (English)In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), IEEE , 2013, p. 1648-1655Conference paper, Published paper (Refereed)
Abstract [en]

Efficient task allocation with timing constraints to a team of possibly heterogeneous robots is a challenging problem with application, e.g., in search and rescue. In this paper a mixed-integer linear programming (MILP) approach is proposed for assigning heterogeneous robot teams to the simultaneous completion of sequences of tasks with specific requirements such as completion deadlines. For this purpose our approach efficiently combines the strength of state of the art Mixed Integer Linear Programming (MILP) solvers with human expertise in mission scheduling. We experimentally show that simple and intuitive inputs by a human user have substantial impact on both computation time and quality of the solution. The presented approach can in principle be applied to quite general missions for robot teams with human supervision. 

Place, publisher, year, edition, pages
IEEE, 2013
Series
IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
National Category
Robotics Computer Systems
Identifiers
urn:nbn:se:liu:diva-95886 (URN)10.1109/IROS.2013.6696570 (DOI)000331367401111 ()
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-8, 2013, Tokyo, Japan
Projects
ELLIIT; CADICS; CUAS; SHERPA
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Available from: 2013-08-07 Created: 2013-08-07 Last updated: 2017-02-13
Kleiner, A. & Kolling, A. (2013). Guaranteed Search With Large Teams of Unmanned Aerial Vehicles. In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA): . Paper presented at IEEE International Conference on Robotics and Automation (ICRA 2013) (pp. 2977-2983). IEEE conference proceedings
Open this publication in new window or tab >>Guaranteed Search With Large Teams of Unmanned Aerial Vehicles
2013 (English)In: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), IEEE conference proceedings, 2013, p. 2977-2983Conference paper, Published paper (Refereed)
Abstract [en]

We consider the problem of detecting moving and evading targets by a team of coordinated unmanned aerial vehicles (UAVs) in large and complex 2D and 2.5D environments. Our approach is based on the coordination of 2D sweep lines that move through the environment to clear it from all contamination, representing the possibility of a target being located in an area, and thereby detecting all targets. The trajectories of the UAVs are implicitly given by the motion of these sweep lines and their costs are determined by the number of UAVs needed. A novel algorithm that computes low cost coordination strategies of the UAV sweep lines in simply connected polygonal environments is presented. The resulting strategies are then converted to strategies clearing multiply connected and 2.5D environments. Experiments on real and artificial elevation maps with complex visibility constraints are presented and demonstrate the feasibility and scalability of the approach. The algorithms used for the experiments are made available on a public repository.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013
Series
Robotics and Automation (ICRA), 2013 IEEE International Conference on, ISSN 1050-4729
Keyword
autonomous aerial vehicles;collision avoidance;helicopters;multi-robot systems;trajectory control;2D environment;2D sweep lines;ROS framework;UAV trajectory;coordinated unmanned aerial vehicle team;guaranteed search;low cost coordination strategies;multiply-connected 2.5D environment;public repository;quadrotors;robot operating system;simply-connected polygonal environment;sweep line motion;trajectory computing;Contamination;Robot sensing systems;Search problems;Shape;Trajectory;Unmanned aerial vehicles
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:liu:diva-87291 (URN)10.1109/ICRA.2013.6630990 (DOI)000337617302148 ()978-1-4673-5641-1 (ISBN)
Conference
IEEE International Conference on Robotics and Automation (ICRA 2013)
Projects
ELLIIT; CADICS; CUAS; SHERPA
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Available from: 2013-01-15 Created: 2013-01-15 Last updated: 2018-01-11
Kleiner, A., Kolling, A., Lewis, M. & Sycara, K. (2013). Hierarchical Visibility for Guaranteed Search in Large-Scale Outdoor Terrain. Autonomous Agents and Multi-Agent Systems, 26(1), 1-36
Open this publication in new window or tab >>Hierarchical Visibility for Guaranteed Search in Large-Scale Outdoor Terrain
2013 (English)In: Autonomous Agents and Multi-Agent Systems, ISSN 1387-2532, E-ISSN 1573-7454, Vol. 26, no 1, p. 1-36Article in journal (Refereed) Published
Abstract [en]

Searching for moving targets in large environments is a challenging task that is relevant in several problem domains, such as capturing an invader in a camp, guarding security facilities, and searching for victims in large-scale search and rescue scenarios. The guaranteed search problem is to coordinate the search of a team of agents to guarantee the discovery of all targets. In this paper we present a self-contained solution to this problem in 2.5D real-world domains represented by digital elevation models (DEMs). We introduce hierarchical sampling on DEMs for selecting heuristically the close to minimal set of locations from which the entire surface of the DEM can be guarded. Locations are utilized to form a search graph on which search strategies for mobile agents are computed. For these strategies schedules are derived which include agent paths that are directly executable in the terrain. Presented experimental results demonstrate the performance of the method. The practical feasibility of our approach has been validated during a field experiment at the Gascola robot training site where teams of humans equipped with iPads successfully searched for adversarial and omniscient evaders. The field demonstration is the largest-scale implementation of a guaranteed search algorithm to date.

Place, publisher, year, edition, pages
Springer, 2013
National Category
Computer and Information Sciences Computer Sciences
Identifiers
urn:nbn:se:liu:diva-70862 (URN)10.1007/s10458-011-9180-7 (DOI)
Available from: 2011-09-22 Created: 2011-09-20 Last updated: 2018-01-12Bibliographically approved
Kolling, A. & Kleiner, A. (2013). Multi-UAV Trajectory Planning for Guaranteed Search. In: Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013): . Paper presented at 12th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2013) (pp. 79-86).
Open this publication in new window or tab >>Multi-UAV Trajectory Planning for Guaranteed Search
2013 (English)In: Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013), 2013, p. 79-86Conference paper, Published paper (Refereed)
Abstract [en]

We consider the problem of detecting all moving and evading targets in 2.5D environments with teams of UAVs. Targets are assumed to be fast and omniscient while UAVs are only equipped with limited range detection sensors and have no prior knowledge about the location of targets. We present an algorithm that, given an elevation map of the environment, computes synchronized trajectories for the UAVs to guarantee the detection of all targets. The approach is based on coordinating the motion of multiple UAVs on sweep lines to clear the environment from contamination, which represents the possibility of an undetected target being located in an area. The goal is to compute trajectories that minimize the number of UAVs needed to execute the guaranteed search. This is achieved by converting 2D strategies, computed for a polygonal representation of the environment, to 2.5D strategies. We present methods for this conversion and consider cost of motion and visibility constraints. Experimental results demonstrate feasibility and scalability of the approach. Experiments are carried out on real and artificial elevation maps and provide the basis for future deployments of large teams of real UAVs for guaranteed search.

National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:liu:diva-87289 (URN)978-1-4503-1993-5 (ISBN)
Conference
12th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2013)
Projects
ELLIIT; CADICS; CUAS; SHERPA
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025
Available from: 2013-01-16 Created: 2013-01-15 Last updated: 2018-01-11Bibliographically approved
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