Intelligente Robotersysteme
Von Zielen zu ausführbaren Handlungen
Wie können Roboter Aufgaben bewältigen, wenn nicht jede Situation im Voraus bekannt ist? Bei der Auswahl und Ausführung von Handlungen müssen sie berücksichtigen, welches Ziel verfolgt wird, was über die Umgebung bekannt ist und welche Handlungen möglich sind.
Einzelne Entscheidungen wirken sich auf den weiteren Verlauf einer Aufgabe aus. Die Wahl einer Handlung hängt deshalb auch davon ab, welche weiteren Schritte sie ermöglicht oder erschwert. Besonders anspruchsvoll ist dies, wenn Informationen unvollständig sind, Bedingungen sich verändern oder eine Handlung anders verläuft als erwartet.
An unserem Lehrstuhl werden die entwickelten KI-Verfahren in unterschiedlichen Aufgabensituationen erprobt. Neben der Bewältigung konkreter Aufgaben wird untersucht, inwieweit sich die Ansätze auf andere Aufgaben oder Umgebungen übertragen lassen und wo ihre Grenzen liegen.
Ausgewählte Forschungsprojekte
VOJEXT: Value of Joint Experimentation in Digital Technologies for Manufacturing and Construction
EU H2020 · 2020–2024
Wissensbasierte Planung und Rekonfiguration flexibler Robotersysteme sowie dynamische Zuordnung von Aufgaben zu Robotern oder Menschen.
iLEVATOR: Intralogistics Enabled by Autonomous Vehicles Cooperating with Operators and Robots
EIT Digital · 2017
Aufgabenplanung und koordinierte Zusammenarbeit von mobilen Robotern, fahrerlosen Transportsystemen und Menschen in der Fabrikintralogistik.
SMErobotics: The European Robotics Initiative for Strengthening the Competitiveness of SMEs in Manufacturing by Integrating Aspects of Cognitive Systems
EU FP7 · 2012–2016
Flexible industrielle Robotersysteme für KMU: Verbindung von Wahrnehmung, Logik, Aufgabenplanung und Ausführung unter Unsicherheit.
JAMES: Joint Action for Multimodal Embodied Social Systems
EU FP7 · 2011–2014
Symbolische Aufgabenplanung, kollisionsfreie Bewegungsplanung und anwendungsspezifische Roboterfähigkeiten in unsicheren Umgebungen.
Ausgewählte Veröffentlichungen
Lin, Jianjie, Rickert, Markus, & Knoll, Alois. (2023). LieGrasPFormer: Point Transformer-Based 6-DOF Grasp Detection with Lie Algebra Grasp Representation. 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 1–7. https://doi.org/10.1109/CASE56687.2023.10260543
Lin, Jianjie, Rickert, Markus, Wen, Long, Pan, Fengjunjie, & Knoll, Alois. (2023). Knowledge-Augmented Anomaly Detection in Small Lot Production for Semantic Temporal Process Data. 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 1–8. https://doi.org/10.1109/ETFA54631.2023.10275461
Lin, Jianjie, Rickert, Markus, & Knoll, Alois. (2021b). Grasp Planning for Flexible Production with Small Lot Sizes based on CAD models using GPIS and Bayesian Optimization. 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 879–884. https://doi.org/10.1109/CASE49439.2021.9551451
Lin, Jianjie, Rickert, Markus, & Knoll, Alois. (2021a). Parameterizable and Jerk-Limited Trajectories with Blending for Robot Motion Planning and Spherical Cartesian Waypoints. 2021 IEEE International Conference on Robotics and Automation (ICRA), 13982–13988. https://doi.org/10.1109/ICRA48506.2021.9561601
Profanter, Stefan, Perzylo, Alexander, Rickert, Markus, & Knoll, Alois. (2021). A Generic Plug & Produce System Composed of Semantic OPC UA Skills. IEEE Open Journal of the Industrial Electronics Society, 2, 128–141. https://doi.org/10.1109/OJIES.2021.3055461
Lin, Jianjie, Rickert, Markus, & Knoll, Alois. (2020). 6D Pose Estimation for Flexible Production with Small Lot Sizes based on CAD Models using Gaussian Process Implicit Surfaces. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10572–10579. https://doi.org/10.1109/IROS45743.2020.9341189
Perzylo, Alexander, Kessler, Ingmar, Profanter, Stefan, & Rickert, Markus. (2020). Toward a Knowledge-Based Data Backbone for Seamless Digital Engineering in Smart Factories. 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 164–171. https://doi.org/10.1109/ETFA46521.2020.9211943
Perzylo, Alexander, Profanter, Stefan, Rickert, Markus, & Knoll, Alois. (2019). OPC UA NodeSet Ontologies as a Pillar of Representing Semantic Digital Twins of Manufacturing Resources. 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 1085–1092. https://doi.org/10.1109/ETFA.2019.8868954
Perzylo, Alexander, Rickert, Markus, Kahl, Bjorn, Somani, Nikhil, Lehmann, Christian, Kuss, Alexander, Profanter, Stefan, Beck, Anders Billeso, Haage, Mathias, Hansen, Mikkel Rath, Nibe, Malene Tofveson, Roa, Maximo A., Sornmo, Olof, Robertz, Sven Gestegard, Thomas, Ulrike, Veiga, Germano, Topp, Elin Anna, Kessler, Ingmar, & Danzer, Marinus. (2019). SMErobotics: Smart Robots for Flexible Manufacturing. IEEE Robotics & Automation Magazine, 26(1), 78–90. https://doi.org/10.1109/MRA.2018.2879747
Profanter, Stefan, Breitkreuz, Ari, Rickert, Markus, & Knoll, Alois. (2019). A Hardware-Agnostic OPC UA Skill Model for Robot Manipulators and Tools. 2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 1061–1068. https://doi.org/10.1109/ETFA.2019.8869205
Lin, Jianjie, Somani, Nikhil, Hu, Biao, Rickert, Markus, & Knoll, Alois. (2018). An Efficient and Time-Optimal Trajectory Generation Approach for Waypoints Under Kinematic Constraints and Error Bounds. Towards a Robotic Society: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems: October, 1-5, 2018, Madrid, Spain, Madrid Municipal Conference Centre, 5869–5876. https://doi.org/10.1109/IROS.2018.8593577
Chen, Chao, Rickert, Markus, & Knoll, Alois. (2017). Motion Planning under Perception and Control Uncertainties with Space Exploration Guided Heuristic Search. 28th IEEE Intelligent Vehicles Symposium: June 11-14, 2017, Redondo Beach, California, USA, 712–718. https://doi.org/10.1109/IVS.2017.7995801
Somani, Nikhil, Rickert, Markus, & Knoll, Alois. (2017). An Exact Solver for Geometric Constraints with Inequalities. IEEE Robotics and Automation Letters, 2(2), 1148–1155. https://doi.org/10.1109/LRA.2017.2655113
Chen, Chao, Rickert, Markus, & Knoll, Alois. (2016). Combining Task and Motion Planning for Intersection Assistance Systems. 2016 IEEE Intelligent Vehicles Symposium (IV): 19-22 June 2016 (2016), 1242–1247. https://doi.org/10.1109/IVS.2016.7535549
Somani, Nikhil, Rickert, Markus, Gaschler, Andre, Cai, Caixia, Perzylo, Alexander, & Knoll, Alois. (2016). Task Level Robot Programming Using Prioritized Non-Linear Inequality Constraints. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 430–437. https://doi.org/10.1109/IROS.2016.7759090
Cai, Caixia, Somani, Nikhil, Rickert, Markus, & Knoll, Alois. (2015). Prioritized Motion-Force Control of Multi-Constraints for Industrial Manipulators. 2015 IEEE International Conference on Robotics and Biomimetics: IEEE-ROBIO 2015: December 6-9, 2015, Zhuhai, China (2015), 952–957. https://doi.org/10.1109/ROBIO.2015.7418894
Chen, Chao, Gaschler, Andre, Rickert, Markus, & Knoll, Alois. (2015). Task Planning for Highly Automated Driving. 2015 IEEE Intelligent Vehicles Symposium (IV), 940–945. https://doi.org/10.1109/IVS.2015.7225805
Chen, Chao, Rickert, Markus, & Knoll, Alois. (2015b). Path Planning with Orientation-Aware Space Exploration Guided Heuristic Search for Autonomous Parking and Maneuvering. 2015 IEEE Intelligent Vehicles Symposium (IV), 1148–1153. https://doi.org/10.1109/IVS.2015.7225838
Chen, Chao, Rickert, Markus, & Knoll, Alois. (2015a). Kinodynamic Motion Planning with Space-Time Exploration Guided Heuristic Search for Car-Like Robots in Dynamic Environments. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2666–2671. https://doi.org/10.1109/IROS.2015.7353741
Lenz, David, Rickert, Markus, & Knoll, Alois. (2015). Heuristic Search in Belief Space for Motion Planning Under Map and Actuator Uncertainties. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2659–2665. https://doi.org/10.1109/IROS.2015.7353740
Somani, Nikhil, Gaschler, Andre, Rickert, Markus, Perzylo, Alexander, & Knoll, Alois. (2015). Constraint-Based Task Programming with CAD Semantics: from Intuitive Specification to Real-Time Control. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015): Hamburg, Germany, 28 September - 2 October 2015, 2854–2859. https://doi.org/10.1109/IROS.2015.7353770
Chen, Chao, Rickert, Markus, & Knoll, Alois. (2014). A Traffic Knowledge Aided Vehicle Motion Planning Engine Based on Space Exploration Guided Heuristic Search. 2014 IEEE Intelligent Vehicles Symposium Proceedings, 535–540. https://doi.org/10.1109/IVS.2014.6856458
Rickert, Markus, Sieverling, Arne, & Brock, Oliver. (2014). Balancing Exploration and Exploitation in Sampling-Based Motion Planning. IEEE Transactions on Robotics, 30(6), 1305–1317. https://doi.org/10.1109/TRO.2014.2340191
Chen, Chao, Rickert, Markus, & Knoll, Alois. (2013). Combining Space Exploration and Heuristic Search in Online Motion Planning for Nonholonomic Vehicles. 2013 IEEE Intelligent Vehicles Symposium (IV), 1307–1312. https://doi.org/10.1109/IVS.2013.6629647
Gaschler, Andre, Petrick, Ronald P. A., Giuliani, Manuel, Rickert, Markus, & Knoll, Alois. (2013). KVP: a Knowledge of Volumes Approach to Robot Task Planning. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 202–208. https://doi.org/10.1109/IROS.2013.6696354
Lenz, Claus, Röder, Thorsten, Rickert, Markus, & Knoll, Alois. (2011). Distance-Weighted Kalman Fusion for Precise Docking Problems. Proceedings of the 11th International Conference on Mobile Robots and Competitions (Robótica), 25–30.
Huber, Markus, Radrich, Helmuth, Wendt, Cornelia, Rickert, Markus, Knoll, Alois, Brandt, Thomas, & Glasauer, Stefan. (2009). Evaluation of a Novel Biologically Inspired Trajectory Generator in Human-Robot Interaction. RO-MAN 2009: The 18th IEEE International Symposium on Robot and Human Interactive Communication, 639–644. https://doi.org/10.1109/roman.2009.5326233
Lenz, Claus, Rickert, Markus, Panin, Giorgio, & Knoll, Alois. (2009). Constraint Task-based Control in Industrial Settings. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3058–3063. https://doi.org/10.1109/iros.2009.5354631
Rickert, Markus, Brock, Oliver, & Knoll, Alois. (2008). Balancing Exploration and Exploitation in Motion Planning. 2008 IEEE International Conference on Robotics and Automation (ICRA), 2812–2817. https://doi.org/10.1109/robot.2008.4543636