Sustained Autonomy through Coupled Plan-based Control and World Modelling with Uncertainty
Lead Research Organisation:
Heriot-Watt University
Department Name: Sch of Engineering and Physical Science
Abstract
Abstracts are not currently available in GtR for all funded research. This is normally because the abstract was not required at the time of proposal submission, but may be because it included sensitive information such as personal details.
Organisations
- Heriot-Watt University (Lead Research Organisation)
- Defence Science and Technology Laboratory (Co-funder)
- Sellafield (United Kingdom) (Co-funder)
- Schlumberger (United Kingdom) (Co-funder)
- United Kingdom Space Agency (Co-funder)
- BAE Systems (United Kingdom) (Co-funder)
- Network Rail (Co-funder)
- Chinese Academy of Sciences (Collaboration)
- Queensland University of Technology (QUT) (Collaboration)
- UNSW Sydney (Collaboration)
- University of Western Australia (Collaboration)
People |
ORCID iD |
| David Lane (Principal Investigator) | |
| Daniel Clark (Co-Investigator) |
Publications
Maurelli F
(2016)
Guest editorial: special issue on long-term autonomy in marine robotics
in Autonomous Robots
Francesco Maurelli
(2014)
Cognitive knowledge representation under uncertainty for autonomous underwater vehicles
in ICRA'14 IEEE Hong Kong, Workshop on Persistent Autonomy for Underwater Robotics
De Carolis V
(2018)
Runtime Energy Estimation and Route Optimization for Autonomous Underwater Vehicles
in IEEE Journal of Oceanic Engineering
Lee C
(2013)
SLAM With Dynamic Targets via Single-Cluster PHD Filtering
in IEEE Journal of Selected Topics in Signal Processing
Tsiogkas N
(2018)
DCOP: Dubins Correlated Orienteering Problem Optimizing Sensing Missions of a Nonholonomic Vehicle Under Budget Constraints
in IEEE Robotics and Automation Letters
Houssineau J
(2016)
A Unified Approach for Multi-Object Triangulation, Tracking and Camera Calibration
in IEEE Transactions on Signal Processing
Maurelli F
(2012)
TDMA-based exchange policies for multi-robot communication of world information
in IFAC Proceedings Volumes
Lane D
(2015)
PANDORA - Persistent Autonomy Through Learning, Adaptation, Observation and Replanning?
in IFAC-PapersOnLine
Maurelli F.
(2013)
Probabilistic approaches in ontologies: Joining semantics and uncertainty for AUV persistent autonomy
in OCEANS 2013 MTS/IEEE - San Diego: An Ocean in Common
Maurelli F.
(2013)
Pose-based and velocity-based approaches to autonomous inspection of subsea structures
in OCEANS 2013 MTS/IEEE - San Diego: An Ocean in Common
Saigol Z.A.
(2013)
Facilitating cooperative AUV missions: Experimental results with an acoustic knowledge-sharing framework
in OCEANS 2013 MTS/IEEE - San Diego: An Ocean in Common
Baxter R
(2015)
Human behaviour recognition in data-scarce domains
in Pattern Recognition
Tsiogkas, N
(2018)
An evolutionary algorithm for online, resource constrained, multi-vehicle sensing mission planning
in Robotics and Automation Letters
Tsiogkas N
(2015)
Facilitating multi-AUV collaboration for marine archaeology
Insaurralde C
(2012)
Autonomy-assessment criteria for underwater vehicles
Maurelli F
(2012)
Integrated MCM missions using heterogeneous fleets of AUVs
Abdella H
(2014)
Sonar based mapping using PHD filter
Barbalata C
(2015)
An adaptive controller for autonomous underwater vehicles
DMITRIEVA M
(2017)
Image processing based strategy for adaptive wideband echolocation
Maurelli F
(2014)
On AUV actions to correctly label world information
De Carolis V
(2014)
Low-cost energy measurement and estimation for autonomous underwater vehicles
| Description | Using new methods of storing information about a robot and its world in a semantic way that can be used to inform autonomous onboard planning This give the robot the ability to re-plan its activities on the fly when unexpected events occur. Topical development in RAS |
| Exploitation Route | Publication Commercialisation Outreach eg at science festivals Follow on funding for further development, in particular ORCA Hub and follow on research with industrial sponsor Schlumberger |
| Sectors | Aerospace, Defence and Marine,Agriculture, Food and Drink,Construction,Digital/Communication/Information Technologies (including Software),Education,Energy,Environment,Healthcare,Government, Democracy and Justice,Manufacturing, including Industrial Biotechology,Culture, Heritage, Museums and Collections,Retail,Security and Diplomacy,Transport |
| Description | The project outputs have contributed to Govt policy in developing national strategy for RAS including Sector Deal to for BEIS They have further led to follow on funding from EU sources and £35M EPSRC ORCA Hub |
| Sector | Aerospace, Defence and Marine,Education,Energy,Government, Democracy and Justice |
| Impact Types | Policy & public services |
| Description | CSA's Blackett Reviews of Robotics and Autonomous Systems |
| Geographic Reach | National |
| Policy Influence Type | Contribution to a national consultation/review |
| Impact | CCAV Set up in Dept Transport Increased EPSRC and iUK investments in RAS Increasing use of SBIR as smart procurement to develop the innovation pipeline in RAS £200M of Govt investment around RAS2020 Strategy |
| Description | Gave evidence to House of Lords Inquiry on Autonomous Vehicles |
| Geographic Reach | National |
| Policy Influence Type | Contribution to a national consultation/review |
| Description | Lead preparation of Lloyds Register Foundation Foresight Review in Robotics and Autonomous Systems |
| Geographic Reach | Multiple continents/international |
| Policy Influence Type | Contribution to a national consultation/review |
| Description | Presentation and advice to Cabinet Secretary and Heads of Govt Dept Horizon Scanning on opportunities for Govt productivity with RAS and Smart Procurement |
| Geographic Reach | National |
| Policy Influence Type | Contribution to a national consultation/review |
| Description | RAS H2020 Strategy, Interaction with BIS and Treasury on RAS |
| Geographic Reach | National |
| Policy Influence Type | Implementation circular/rapid advice/letter to e.g. Ministry of Health |
| URL | https://connect.innovateuk.org/web/ras-sig |
| Description | invited by UK Government to stand up and lead a RAS Sector Council and to prepare a RAS Sector Deal as part of the Govt Industrial Strategy |
| Geographic Reach | National |
| Policy Influence Type | Contribution to a national consultation/review |
| URL | https://www.gov.uk/government/consultations/building-our-industrial-strategy |
| Description | Cooperative Control of Drilling Equipment |
| Amount | £86,080 (GBP) |
| Organisation | Schlumberger Limited |
| Department | Schlumberger Oilfield UK plc |
| Sector | Private |
| Country | United Kingdom |
| Start | 09/2015 |
| End | 08/2021 |
| Description | EU Marine Robots |
| Amount | € 5,000,000 (EUR) |
| Organisation | European Commission |
| Sector | Public |
| Country | European Union (EU) |
| Start | 01/2018 |
| End | 12/2021 |
| Description | EUMarineRobots |
| Amount | € 4,998,736 (EUR) |
| Funding ID | 731103 |
| Organisation | European Commission H2020 |
| Sector | Public |
| Country | Belgium |
| Start | 03/2018 |
| End | 02/2021 |
| Description | Framework7 |
| Amount | £6,665,680 (GBP) |
| Organisation | European Commission |
| Department | Seventh Framework Programme (FP7) |
| Sector | Public |
| Country | European Union (EU) |
| Start | 01/2014 |
| End | 12/2017 |
| Description | Framework7 |
| Amount | £348,160 (GBP) |
| Organisation | European Commission |
| Sector | Public |
| Country | European Union (EU) |
| Start | 09/2012 |
| End | 09/2015 |
| Description | H2020 |
| Amount | € 150,000 (EUR) |
| Organisation | EU-T0 |
| Sector | Public |
| Country | European Union (EU) |
| Start | 03/2016 |
| End | 12/2016 |
| Description | H2020 |
| Amount | € 170,000 (EUR) |
| Organisation | European Commission |
| Sector | Public |
| Country | European Union (EU) |
| Start | 01/2016 |
| End | 12/2019 |
| Description | Interactive robotic inspection strategies using unstructured data |
| Amount | £115,400 (GBP) |
| Organisation | Renishaw PLC |
| Sector | Private |
| Country | United Kingdom |
| Start | 09/2015 |
| End | 08/2019 |
| Description | STRONGMAR - STRengthening MARritime Technology Research Center |
| Amount | € 999,203 (EUR) |
| Funding ID | 692427 |
| Organisation | European Commission |
| Sector | Public |
| Country | European Union (EU) |
| Start | 01/2016 |
| End | 12/2018 |
| Description | The development of multi-sensor fusion algorithms for underwater pipeline position estimation by an AUV at close range |
| Amount | £162,540 (GBP) |
| Organisation | Kawasaki Heavy Industries, Ltd. |
| Sector | Private |
| Country | United Kingdom |
| Start | 09/2015 |
| End | 08/2019 |
| Description | Queensland University of Technology, Brisbane |
| Organisation | Queensland University of Technology (QUT) |
| Country | Australia |
| Sector | Academic/University |
| PI Contribution | Research and training collaboration |
| Collaborator Contribution | Research and training collaboration |
| Impact | Nil. |
| Start Year | 2018 |
| Description | State Key Laboratory in Robotics, Shenyang Institute of Automation, China |
| Organisation | Chinese Academy of Sciences |
| Country | China |
| Sector | Public |
| PI Contribution | Research and training collaboration. |
| Collaborator Contribution | Research and training collaboration. |
| Impact | A collaboration Memorandum of Understanding has been signed with the Institute in March 2018. |
| Start Year | 2018 |
| Description | University of New South Wales, Sydney |
| Organisation | University of New South Wales |
| Country | Australia |
| Sector | Academic/University |
| PI Contribution | Research and training collaboration |
| Collaborator Contribution | Research and training collaboration |
| Impact | Nil. |
| Start Year | 2017 |
| Description | University of Western Australia, Perth, Australia |
| Organisation | University of Western Australia |
| Country | Australia |
| Sector | Academic/University |
| PI Contribution | Research and training collaboration |
| Collaborator Contribution | Research and training collaboration |
| Impact | Nil |
| Start Year | 2017 |
| Description | Beijing Round Table with Major Chinese Companies |
| Form Of Engagement Activity | Participation in an activity, workshop or similar |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Industry/Business |
| Results and Impact | Round table developing Chinese links with major corporations to promote British prosperity and technology in RAS, the National ROBOTARIUM and seek sponsorship an inward investment |
| Year(s) Of Engagement Activity | 2019 |
| Description | Presentation at Hong Kong Science and Technology Park |
| Form Of Engagement Activity | Participation in an activity, workshop or similar |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Industry/Business |
| Results and Impact | Round table and meetings with Hong Kong Science and Technology Park, developing collaborative links to National ROBOTARIUM and teaming discussions, learning from their business model and activities |
| Year(s) Of Engagement Activity | 2019 |