Date post: | 27-Mar-2015 |
Category: |
Documents |
Upload: | brianna-steele |
View: | 217 times |
Download: | 1 times |
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
Wolfram Burgard
Department of Computer Science
University of Freiburg
TOURBOT Coordinator:
Panos Trahanias Institute of Computer Science
Foundation for Research and Technology - HellasHeraklion, Crete, [email protected]
http://www.ics.forth.gr/tourbot
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT Consortium
Foundation for Research and Technology - Hellas (FORTH - Technical)
University of Freiburg (UNIFR - Technical) Foundation of the Hellenic World (FHW - Broker / End-
User) University of Bonn (UNIBONN - Technical) Theon Mobile Platforms SA (THEON - Technical) Deutsches Museum Bonn (MUSBON - End-User) Byzantine and Christian Museum of Athens (BYZMUS -
End-User)
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT Data
Key Action 3 Action Line 3-2-3 Duration 24 m (01/01/2000 - 31/12/2001) Budget 1,718,150, EU contribution 1,088,790
RTD Project Funded by EU-IST Programme
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT Concept
Remote “representative” of the user• Based on mobile robotic platforms equipped
with sensors and connected to Internet• Controlled over the Web• Able to navigate autonomously and reliably• Transmitting multimedia data to remote users
Tele-presence in museums through robotic avatars
(TOUr-guide RoBOTs)
See Through the Eyes of the Robot
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT Goals
Development of an interactive tour-guide robot able to provide individual access to museums' exhibits and cultural heritage over the Internet.
Operate as the user's avatar in the museum by accepting commands over the web that direct it to move in its workspace and visit specific exhibits.
Act as a flexible, on-site museum-guide.
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT Design
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT Objectives
develop a robotic avatar with advanced navigation capabilities that will be able to move (semi)autonomously in the museum's premises,
develop appropriate web interfaces to the robotic avatar that will realize distant-user's telepresence, i.e facilitate scene observation through the avatar's eyes,
facilitate personalized and realistic observation of the museum exhibits,
enable on-site, interactive museum tour-guides.
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT System
Technical point of view
TOURBOT Kick-off MeetingEnvironment
Mobile Platform
Navigation SW
System AdministratorInformation and
Data Base
Remote User
On-site User
WWW
Off-boardWorkstation
Data Link
Platform bus
Wireless Link
ISDN Link
Processing& Control UnitTHEON
Sensors
FORTHUNIBONN
UNIFR
FHWUNIFR
UNIBONN
FHWUNIFR
UNIBONN
UNIBONNUNIFR
MUSBONBYZMUS
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
Problem: Avatar Navigation
Reactive navigation - Obstacle avoidance
Robot ModelSonars
Laser
Admissible
motion command
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
WP6: Avatar Navigation
Targeted navigation - Move to a point on-line path planning cooperation with obstacle avoidance module fast recovery when entire passages are blocked
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT Telepresence
allows individual accessand control
provides on-line images to a large set of users
presents high-resolution images
integrates multi-media information
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
WP4: Site Information
Map Building Completed.Robot Used (James)
James at work
BYZMUS
FHW
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
WP4: Site InformationC
onst
ruct
ed M
aps
FHW
BY
ZM
US
MU
SB
ON
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT Deliverables
Del. Name Delivery (month)
D1 Project Presentation 4
D2 Dissemination and Use Plan 5
D3 Operational Requirements 6
D4 TOURBOT Design 6
D5 Site Information 9
D6 Robotic Platform Hardware 15
D7 Workstation Hardware / Communications 15
D8 TOURBOT Navigation 15
D9 TOURBOT Web Interface 15
D10 TOURBOT On-board Interface 15
D11 Hardware and Software Integration 20
D12 TOURBOT Validation 24
D13 Technological Implementation Plan 24
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT Workpackages
WP1 - Project Management WP2 - Dissemination and Implementation WP3 - Application Specification WP4 - Site Information WP5 - Hardware Configuration WP6 - Avatar Navigation WP7 - Interfaces WP8 - Integration WP9 - Assessment and Evaluation
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
ID WP/Task WP/Task name
1 1 Project Management
2 2 Dissemination and Implementation
3 3 Application Specification
4 3.1 Operational Requirements
5 3.2 Application Design
6 M1 Milestone 1
7 4 Site Information
8 4.1 Methodology for map construction
9 4.2 On-site map building
10 4.3 Multimedia information
11 5 Hardware Configuration
12 5.1 Mobile platform
13 5.2 Sensors
14 5.3 Processing power and communication H/W
15 6 Avatar Navigation
16 6.1 Reactive navigation
17 6.2 Targeted navigation
18 7 Interfaces
19 7.1 Web inteface
20 7.2 On-board interface
21 M2 Milestone 2
22 8 Integration
23 8.1 Parts integration
24 8.2 Verification tests
25 8.3 Final tuning
26 M3 Milestone 3
27 9 Assessment and Evaluation
28 9.1 On-site validation
29 9.2 Web validation
30 M4 Milestone 4
M-3 M-2 M-1 M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 M12 M13 M14 M15 M16 M17 M18 M19 M20 M21 M22 M23 M24 M25
Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4
TOURBOT Gantt Chart
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
Concluding Remarks
TOURBOT has completed 6m - project resources utilized as planned
Project related activities are progressing smoothly & satisfactorily Progress in WPs in pace with scheduled time plan (extra
activities pursued) Professional accomplishment of tasks Positive future prospects (no obstacles) Prominent (initial) dissemination activities Concrete dissemination & exploitation plans
Prof. Dr. Wolfram Burgard, [email protected] http://www.ics.forth.gr/tourbot
TOURBOT - Interactive Museum Tele-presence Through Robotic Avatars
TOURBOT
THANKS FOR YOUR ATTENTION