SQUIRREL

Clearing Clutter Bit by Bit

Coordinatore	TECHNISCHE UNIVERSITAET WIEN    more  Organization address address: Gusshausstrasse 27-29/E376 city: Wien contact info Titolo: Dr. Nome: Michael Cognome: Zillich Email: send email Telefono: +43 158801376648 Fax: +43 15880137698
Nazionalità Coordinatore	Austria [AT]
Totale costo	8˙476˙755 €
EC contributo	6˙359˙989 €
Programma	FP7-ICT Specific Programme "Cooperation": Information and communication technologies
Code Call	FP7-ICT-2013-10
Funding Scheme	CP
Anno di inizio	2014
Periodo (anno-mese-giorno)	2014-02-01   -   2018-01-31

 Partecipanti

#	participant	country	role	EC contrib. [€]
1	TECHNISCHE UNIVERSITAET WIEN  Organization address address: Gusshausstrasse 27-29/E376 city: Wien contact info Titolo: Dr. Nome: Michael Cognome: Zillich Email: send email Telefono: +43 158801376648 Fax: +43 15880137698	AT (Wien)	coordinator	0.00
2	ALBERT-LUDWIGS-UNIVERSITAET FREIBURG  Organization address address: FAHNENBERGPLATZ city: FREIBURG contact info Titolo: Prof. Nome: Wolfram Cognome: Burgard Email: send email Telefono: +49 7612038026 Fax: +49 7612038007	DE (FREIBURG)	participant	0.00
3	FESTO DIDACTIC GMBH & CO KG  Organization address address: RECHBERGSTRASSE 3 city: DENKENDORF contact info Titolo: Dr. Nome: Dirk Cognome: Pensky Email: send email Telefono: +49 71134671334	DE (DENKENDORF)	participant	0.00
4	FRAUNHOFER GESELLSCHAFT ZUR FORDERUNG DER ANGEWANDTEN FORSCHUNG EV  Organization address address: HANSASTRASSE 27C city: MUENCHEN contact info Titolo: Mr. Nome: Walter Cognome: Krause Email: send email Telefono: +49 89 1205 2713 Fax: +49 89 1205 7534	DE (MUENCHEN)	participant	0.00
5	IDMIND - ENGENHARIA DE SISTEMAS LDA  Organization address address: ESTRADA DO PACO DO LUMIAR - POLO TECNOLOGICO DE LISBOA LOTE city: LISBOA contact info Titolo: Ms. Nome: Cristina Cognome: Russo Email: send email Telefono: 351217000000	PT (LISBOA)	participant	0.00
6	KING'S COLLEGE LONDON  Organization address address: Strand city: LONDON contact info Titolo: Mr. Nome: Paul Cognome: Labbett Email: send email Telefono: 442078000000	UK (LONDON)	participant	0.00
7	PADAGOGISCHE INITIATIVE 2-10  Organization address address: OBERE DONAUSTRASSE 79 city: WIEN contact info Titolo: Mrs. Nome: Martina Cognome: Lassl Email: send email Telefono: +43 6504633534	AT (WIEN)	participant	0.00
8	RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN  Organization address address: REGINA PACIS WEG 3 city: BONN contact info Titolo: Mrs. Nome: Daniela Cognome: Sprinkmeier Email: send email Telefono: +49 228 737274 Fax: +49 228 736479	DE (BONN)	participant	0.00
9	UNIVERSITAET INNSBRUCK  Organization address address: INNRAIN 52 city: INNSBRUCK contact info Titolo: Prof. Nome: Justus Cognome: Piater Email: send email Telefono: +43 51250753239 Fax: +43 51250753018	AT (INNSBRUCK)	participant	0.00
10	UNIVERSITEIT TWENTE  Organization address address: DRIENERLOLAAN 5 city: ENSCHEDE contact info Titolo: Prof. Nome: Vanessa Cognome: Evers Email: send email Telefono: +31 534893686	NL (ENSCHEDE)	participant	0.00

Mappa

 Word cloud

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 Obiettivo del progetto (Objective)

Clutter in an open world is a challenge for many aspects of robotic systems, especially for autonomous robots deployed in unstructured domestic settings, affecting navigation, manipulation, vision, human robot interaction and planning.

SQUIRREL addresses these issues by actively controlling clutter and incrementally learning to extend the robot's capabilities while doing so. We term this the B3 (bit by bit) approach, as the robot tackles clutter one bit at a time and also extends its knowledge continuously as new bits of information become available.SQUIRREL is inspired by a user driven scenario, that exhibits all the rich complexity required to convincingly drive research, but allows tractable solutions with high potential for exploitation. We propose a toy cleaning scenario, where a robot learns to collect toys scattered in loose clumps or tangled heaps on the floor in a child's room, and to stow them in designated target locations.

We will advance science w.r.t. manipulation, where we will incrementally learn grasp affordances with a dexterous hand; segmenting and learning objects and object category models from a cluttered scene; localisation and navigation in a crowded and changing scene based on incrementally built 3D environment models; iterative task planning in an open world; and engaging with multiple users in a dynamic collaborative task.

Progress will be measured in scenarios of increasing complexity, starting with known object classes, via incremental learning of objects and grasp affordances to the full system with failure recovery and active control of clutter, instantiated on two different robot platforms.Systems will be evaluated at an end user site where children in nurseries teach the robot how to clean up, and will be exploited by an industrial partner with a strong market presence in advanced robotic toys, who will take up project outcomes to be integrated in their current line of developments.