Thesis

All theses projects require knowledge of C++, Matlab and possibly ROS. Theses duration is from 3 months up to 6 months.

Students might be able to participate in activities within the European project TRADR and European project SecondHands, with the robots (UGV), the UAV available within the projects and the Gaze Machine.

The theses are on two main topics: Vision and Robot cognitive control.

Vision:

1. Video based action recognition

2. 4D performance capture

3. Point cloud segmentation

4. Depth image segmentation

5. 3D attention

6. 3D super-resolution

7. 3D motion reconstruction

8. Terrain reconstruction from laser scanner PCLs

9. Monocular Visual-SLAM of large areas

10. Placing virtual objects in reconstructed scenes

11. Monocular SLAM for UAVs at Selex ES (paid)

Robot Cognitive Control

1. Motion planning based on 3D map. Given a 3D terrain map, plan a look ahead, for a slow motion on the surface ensuring flipper and differential control and stability (for example climbing stairs or mounting on a pile of clutter), this might require to operate also in the simulation environment GAZEBO. It comprises

  • 3D path planning for actuated tracked vehicles in rough terrain.
  • Trajectory and path following control for actuated tracked vehicles. 

2. Flexible planning: management of all the robot components, this includes components failure and resources availability.

3. ARE is the simulation environment of the robot for controlling the robot cognitive abilities to interface with rescue operators and danger.

4. Task switching, modelling robot decisions based on stimuli from each process of the different robot components.

5. UGV simulator under GAZEBO stack. It is a three-dimensional, rigid body model of the actuated tracked robot with the hardware-ROS interfaces found on the actual TRADR robot. On the basis of an approximated kinematic and dynamic model of the real platform, the simulator tool has to provide suitable interfaces to model flipper damping, friction, differential, robot inertial information as well as models of noisy sensors (i.e. laser scan, point cloud)

 
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