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ACT Team :: Projects :: Control of mobile robots and vehicles in unknown and dynamic environments
Control of mobile robots and vehicles in unknown and dynamic environments
Project title Control of mobile robots and vehicles in unknown and dynamic environments
Principal investigator Ivan Petrović
Reaserchers Edouard Ivanjko
Kristijan Maček
Mišel Brezak
Andrej Kitanov
Marija Seder
Srećko Jurić-Kavelj
Ivan Marković
Brief info Mobile robotics is an interdisciplinary scientific discipline, which has been evolving very intensively for the last twenty years. Various mechanical constructions of a mobile robot and its drive mechanism, as well as electrical and electronic implementation of drives, sensors, power supplies and control systems, are being researched. While a selection of mechanical construction, drive mechanism, sensors and power supplies dominantly depends on the robot application, the control system is mostly generic so it can be developed application-independent. A number of research groups of reputable universities around the world have developed their own mobile robot control systems (among them is this project proposer’s group), but a number of open-end research problems still remains. Particularly, the most control systems are tested in laboratory environments, which are assumed to be structured and stationary, but the direct, specific goal of the proposed project is to develop mobile robots and vehicles control system, which will enable fully autonomous navigation in unknown, unstructured and dynamic environments. In order to systematically solve this complex problem, probabilistic multisensor fusion methods, optimal state estimation of nonlinear stochastic systems with multimodal measurement uncertainties, advanced automatic control methods, artificial intelligence and decision-making methods will be applied. The most important expected result of the proposed research is a generic library of advanced mobile robot control functions, which can be easily applied to different designs of autonomous mobile robots and vehicles as well as to different applications in unknown and dynamic environments. Every developed algorithm will be experimentally tested in computer simulations and on available mobile platforms. Also, it is expected that some of them will find particular industrial application even before the project ends. Proposed research could be very valuable to the Republic of Croatia, having in mind expected large expansion of autonomous mobile robots and vehicles applications in the world and the possibility for small high-tech companies to participate on that market. In that sense, this project could be stimulation for forming such high-tech companies, so that this opportunity wouldn’t be missed, as was the case with the automotive industry.
Collaboration Project supported by Croatian Ministry of Science and Technology
Links http://www.fer.hr/en/projects?@=cluo#eu_projekti_11452 

JOURNAL PAPERS
Marija Seder, Ivan Petrović; Complete coverage path planning of mobile robots for humanitarian demining; Industrial robot (0143-991X), Vol. 39 (5), pp. 484--493, 2012.
Marija Seder, Šandor Ileš, Ivan Petrović; Exploration and Mapping of Unknown Polygonal Environments Based on Uncertain Range Data; Automatika: Journal for Control, Measurement, Electronics, Computing and Communications (0005-1144), Vol. 52 (2), pp. 118--131, 2011.
Edouard Ivanjko, Andrej Kitanov, Ivan Petrović; Model based Kalman Filter Mobile Robot Self-Localization; chapter in book "Robot Localization and Map Building", editor Hanafiah Yussof, publisher In-Tech, Vukovar, Croatia , pp. 59-89, 2010.
Edouard Ivanjko, Ivan Petrović, Mišel Brezak; Experimental comparison of sonar based occupancy grid mapping methods; AUTOMATIKA: Journal for Control, Measurement, Electronics, Computing and Communications (0005-1144) , Vol. 1-2, pp. 65-79, 2009.
Mario Vašak, Mato Baotić, Ivan Petrović, Nedjeljko Perić; Hybrid Theory-Based Time-Optimal Control of an Electronic Throttle; IEEE Transactions on Industrial Electronics, Vol. 54, pp. 1483--1494, 2007.
CONFERENCE PAPERS
Marija Seder, Christoph Sprunk, Luciano Spinello, Ivan Petrović, Wolfram Burgard; Efficient Navigation for Anyshape Holonomic Mobile Robots in Dynamic Environments; IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo Big Sight, Tokyo, Japan, 3.-8.11., pp. 2644--2649, 2013.
Marija Seder, Mijo Čikeš, Ivan Petrović; Efficient Interpolated Path Planning of Mobile Robots based on Occupancy Grid Maps; 10th IFAC Symposioum on Robotic Control (SYROCO2012), Dubrovnik, Croatia, 5.-7.9., pp. 349--354, 2012.
Ivan Marković, Hrvoje Domitrović, Ivan Petrović; Comparison of statistical model-based voice activity detectors for mobile robot speech applications; Proceedings of the 10th IFAC Symposioum on Robotic Control (SYROCO2012), Volume 10, Part 1, Dubrovnik, Croatia, 2012.
Srećko Jurić-Kavelj, Ivan Marković, Ivan Petrović; People Tracking with Heterogeneous Sensors using JPDAF with Entropy Based Track Management; Proceedings of the 5th European Conference on Mobile Robots (ECMR2011), pp. 31-36, 2011.
Domagoj Herceg, Ivan Marković, Ivan Petrović; Real-Time Detection of Moving Objects by a Mobile Robot with an Omnidirectional Camera; Proceedings of the 7th International Symposium on Image and Signal Processing and Analysis, pp. 289-294, 2011.
Marija Seder, Sanja Horvatić, Ivan Petrović; Complete Coverage D* Algorithm for Path Planning of a Floor-Cleaning Mobile Robot; Proceedings of the 18th IFAC World Congress, Milano, Italy, August 28 - September 2, pp. 5950--5955, 2011.
Marija Seder, Borko Dimitrijević, Ivan Petrović; Avoiding deadlocks of mobile robots in narrow passages of environments populated with moving obstacles; CD ROM Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Budapest, Hungary, 3.-7.7., pp. 936--941, 2011.
Mijo Čikeš, Marija Seder, Ivan Petrović; The Path Planning Algorithms for a Mobile Robot based on the Occupancy Grid Map of the Environment — A Comparative Study; Proceedings of the XXIII. International Symposium on Information, Communication and Automation Technologies, Sarajevo, Bosnia and Herzegovina, 27.-29.10., pp. 8 pages, 2011.
Srećko Jurić-Kavelj, Ivan Petrović; Experimental comparison of AdaBoost algorithms applied on Leg Detection with Different Range Sensor Setups; 19th IEEE International Workshop on Robotics in Alpe-Adria-Danube Region, pp. 267-272, 2010.
Davor Graovac, Srećko Jurić-Kavelj, Ivan Petrović; Mobile robot pose tracking by correlation of laser range finder scans in Hough domain; 19th IEEE International Workshop on Robotics in Alpe-Adria-Danube Region, pp. 273-278, 2010.
Vedrana Spudić, Mate Jelavić, Mato Baotić; Simulator vjetroelektrane u programskom okruženju Matlab; Proceedings of the 33th international convention MIPRO 2010, Vol. III, pp. 120 - 125, 2010.
Edouard Ivanjko, Toni Petrinić, Ivan Petrović; Modelling of Mobile Robot Dynamics; EUROSIM 2010, 7th EUROSIM Congress on Modelling and Simulation, Prague, Czech Republic, 06-10.09.2010., Vol. 2, 2010.
Marija Seder, Ivan Petrović; Integration of Focused D* and Witkowski's algorithm for path planning and replanning; Proceedings of the 4th European Conference on Mobile Robots, Mlini/Dubrovnik, Croatia, 23-25.09, pp. 99-104, 2009.
Šandor Ileš, Marija Seder, Ivan Petrović; Improvement of Map Building during the Exploration of Polygonal Environments using the Range Data; Proceedings of the International Conference on Electrical Drives and Power Electronics, Dubrovnik, Croatia,  12.-14.10., 2009.
Mišel Brezak, Ivan Petrović, Nedjeljko Perić; Experimental Comparison of Trajectory Tracking Algorithms for Nonholonomic Mobile Robots; 5th Annual Conference of the IEEE Industrial Electronics Society, pp. 2229-2234, 2009.
Srećko Jurić-Kavelj, Marija Seder, Ivan Petrović; Tracking Multiple Moving Objects Using Adaptive Sample-based Joint Probabilistic Data Association Filter; Proceedings of 5th International Conference on Computational Intelligence, Robotics and Autonomous Systems (CIRAS 2008), pp. 93-98, 2008.
Marija Seder, Srećko Jurić-Kavelj, Ivan Petrović; Automatic Creation of Hierarchical Maps for Indoor Environments; Proceedings of the Fifth International Conference on Computational Intelligence, Robotics and Autonomous Systems, Linz, Austria, 19-21.06. , pp. 19-24, 2008.
Vedrana Spudić, Mato Baotić, Nedjeljko Perić; Odometry calibration of mobile robots via semidefinite programming; Proceedings of the 17th International Electrotechnical and Computer Science Conference ERK 2008, Vol. B, pp. 187 - 190, 2008.
Edouard Ivanjko, Mišel Brezak, Ivan Petrović; Eksperimentalni postav za automatsko umjeravanje odometrijskog sustava mobilnih robota (An experimental setup for automatic mobile robot odometry calibration); Proceedings of 31st International convention on information and communication technology, electronics ad mircroelectronics MIPRO 2008, CTS & CIS, editors: Bogunović, Nikola ; Ribarić, Slobodan - Rijeka : Hrvatska udruga za informacijsku i komunikacijsku tehnologiju, elektroniku i mikroelektroniku - MIPRO , (ISBN: 978-953-233-038-0)., Vol. 3, pp. 124-129, 2008.
Marija Seder, Ivan Petrović; Dynamic window based approach to mobile robot motion control in the presence of moving obstacles; Proceedings of IEEE International Conference on Robotics and Automation - ICRA 2007, Roma, Italy, 10-14 April 2007
, pp. 1986-1991, 2007.
Edouard Ivanjko, Ivan Komšić, Ivan Petrović; Simple off-line Odometry Calibration of Differential Drive Mobile Robots; 16th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD 2007, Ljubljana, Slovenija, 07-09 June 2007, pp. 164-169, 2007.
Edouard Ivanjko, Bojana Dalbelo-Bašić, Ivan Petrović; Correlation based approach to mobile robot pose tracking in unknown environments; Proceedings of the ITI 2007 29th International Conference on Information Technology Interfaces, June 25-28. 2007. Cavtat/Dubrovnik, Croatia, pp. 445-450, 2007.
Mišel Brezak, Ivan Petrović; Global Vision Based Tracking of Multiple Mobile Robots in Subpixel Precision; 5th IEEE International Conference on Industrial Informatics, 2007.
Gregor Klančar, Mišel Brezak, Ivan Petrović, Drago Matko; Two approaches to mobile robots simulator design; Proceedings of the 6th EUROSIM Congress on Modelling and Simulation ( EUROSIM 2007), Ljubljana, 2007.
Takeshi Sasaki, Dražen Brščić, Hideki Hashimoto; Implementation of Distributed Sensor Network for Intelligent Space; Proceedings of International Conference on Mechatronics ICM 2007Kumamoto, Japan, 2007.
Dražen Brščić, Hideki Hashimoto; Distributed Sensor Fusion Architectures for Tracking in Intelligent Spaces; Proceedings of the 25th Annual Conference of the Robotics Society of Japan RSJ 2007, 2007.
Dražen Brščić, Hideki Hashimoto; Robot as mobile sensor in Intelligent Space -analysis of cooperative sensing using onboard and static sensors; Proceedings of the JSME Conference on Robotics and Mechatronics ROBOMEC 2007, Akita, Japan, 2007.
Marcelo Becker, Richard Hall, Sascha Kolski, Kristijan Maček, Roland Siegwart; The use of Obstacle Motion Tracking for Car-like Mobile Robots Collision Avoidance in Dynamic Urban Environments; Proceedings of the XII DINAME - International Symposium on Dynamic Problems of Mechanics, 2007, 2007.
Marcelo Becker, Sascha Kolski, Bjoern Jensen, Kristijan Maček, Roland Siegwart; Car-like Mobile Robots: Soon or Later a Reality on our Streets; Proceedings of the 6th Brazilian Conference on Dynamics, Control and their Applications (DINCON 2007), 2007.
Sascha Kolski, Kristijan Maček, Luciano Spinello, Roland Siegwart; Secure autonomous driving in dynamic environments: From object detection to safe driving; Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Safe Navigation in Open and Dynamic Environments: Application to Autonomous Vehicles, 2007.
Kristijan Maček, Konrad Thoma, Richard Glatzel, Roland Siegwart; Dynamics Modeling and Parameter Identification for Autonomous Vehicle Navigation; Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2007, 2007.
Andrej Kitanov, Sanjin Biševac, Ivan Petrović; Mobile robot self-localization in complex indoor environments using monocular vision and 3D model; IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Zürich, Switzerland, 2007.
Josip Babić, Marko Budišić, Ivan Petrović; Dynamic Window based Force Reflection for Safe Teleoperation of A Mobile Robot via Internet; IEEE/ASME International Conference on Advanced Intelligent Mechatronics,Zürich, Switzerland, 2007.
Ivan Petrović, Josip Babić, Marko Budišić; Teleoperation Of Collaborative Mobile Robots With Force Feedback Over Internet; Fourth International Conference on Informatics in Control, Automation and Robotics, Angers, France, Vol. ISBN: 978-972-8865-82-5, pp. 430-437, 2007.
Roland Philippsen, Sascha Kolski, Kristijan Maček, Roland Siegwart; Path Planning, Replanning and Execution for Autonomous Driving in Urban and Offroad Environments; Proceedings of teh 2007 IEEE International Conference on Robotics and Automation (ICRA 2007)
PHD and MSC THESES
Marija Seder; Motion planning of autonomous mobile robots in dynamic and unknown indoor environments; PhD Thesis Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia; 2010.
Mišel Brezak; Localization, Motion Planning and Control of Mobile Robots in Intelligent Spaces; PhD Thesis Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia; 2010.
Andrej Kitanov; Pose estimation of mobile robots in partially and completely unknown environments; PhD Thesis Faculty of Electrical Engineering and Computing, University of Zagreb; 2010.
Edouard Ivanjko; Autonomous Navigation of Mobile Robots Based on Ultrasound Range Sesnsors; PhD Thesis Faculty of Electrical Engineering and Computing, University of Zagreb, Croatia; 2009.