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Dimitrov, Dimitar Nikolaev
Alternative names
Publications (10 of 16) Show all publications
Andreasson, H., Bouguerra, A., Cirillo, M., Dimitrov, D. N., Driankov, D., Karlsson, L., . . . Stoyanov, T. (2015). Autonomous transport vehicles: where we are and what is missing. IEEE robotics & automation magazine, 22(1), 64-75
Open this publication in new window or tab >>Autonomous transport vehicles: where we are and what is missing
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2015 (English)In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 22, no 1, p. 64-75Article in journal (Refereed) Published
Abstract [en]

In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies.

Keywords
Intelligent vehicles; Mobile robots; Resource management; Robot kinematics; Trajectory; Vehicle dynamics
National Category
Robotics
Identifiers
urn:nbn:se:oru:diva-44432 (URN)10.1109/MRA.2014.2381357 (DOI)000352030600010 ()2-s2.0-84925133099 (Scopus ID)
Available from: 2015-04-24 Created: 2015-04-24 Last updated: 2018-08-30Bibliographically approved
Lagriffoul, F., Dimitrov, D., Bidot, J., Saffiotti, A. & Karlsson, L. (2014). Efficiently combining task and motion planning using geometric constraints. The international journal of robotics research, 33(14), 1726-1747
Open this publication in new window or tab >>Efficiently combining task and motion planning using geometric constraints
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2014 (English)In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176, Vol. 33, no 14, p. 1726-1747Article in journal (Refereed) Published
Abstract [en]

We propose a constraint-based approach to address a class of problems encountered in combined task and motion planning (CTAMP), which we call kinematically constrained problems. CTAMP is a hybrid planning process in which task planning and geometric reasoning are interleaved. During this process, symbolic action sequences generated by a task planner are geometrically evaluated. This geometric evaluation is a search problem per se, which we refer to as geometric backtrack search. In kinematically constrained problems, a significant computational effort is spent on geometric backtrack search, which impairs search at the task level. At the basis of our approach to address this problem, is the introduction of an intermediate layer between task planning and geometric reasoning. A set of constraints is automatically generated from the symbolic action sequences to evaluate, and combined with a set of constraints derived from the kinematic model of the robot. The resulting constraint network is then used to prune the search space during geometric backtrack search. We present experimental evidence that our approach significantly reduces the complexity of geometric backtrack search on various types of problem.

Keywords
Manipulation planning, combining task and motion planning, geometric reasoning
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-40158 (URN)10.1177/0278364914545811 (DOI)000345707000002 ()2-s2.0-84914173646 (Scopus ID)
Note

Funding Agency:

EU FP7 project "Generalizing Robot Manipulation Tasks" (GeRT) 248273

Available from: 2015-01-08 Created: 2015-01-07 Last updated: 2018-01-11Bibliographically approved
Lagriffoul, F., Dimitrov, D., Saffiotti, A. & Karlsson, L. (2012). Constraint propagation on interval bounds for dealing with geometric backtracking. In: Proceedings of  the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012): . Paper presented at 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)OCT 07-12, 2012, Algarve, Spain (pp. 957-964). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Constraint propagation on interval bounds for dealing with geometric backtracking
2012 (English)In: Proceedings of  the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Institute of Electrical and Electronics Engineers (IEEE), 2012, p. 957-964Conference paper, Published paper (Refereed)
Abstract [en]

The combination of task and motion planning presents us with a new problem that we call geometric backtracking. This problem arises from the fact that a single symbolic state or action can be geometrically instantiated in infinitely many ways. When a symbolic action cannot begeometrically validated, we may need to backtrack in thespace of geometric configurations, which greatly increases thecomplexity of the whole planning process. In this paper, weaddress this problem using intervals to represent geometricconfigurations, and constraint propagation techniques to shrinkthese intervals according to the geometric constraints of the problem. After propagation, either (i) the intervals are shrunk, thus reducing the search space in which geometric backtracking may occur, or (ii) the constraints are inconsistent, indicating then infeasibility of the sequence of actions without further effort. We illustrate our approach on scenarios in which a two-arm robot manipulates a set of objects, and report experiments that show how the search space is reduced.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2012
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keywords
robotics, planning
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-24398 (URN)10.1109/IROS.2012.6385972 (DOI)000317042701078 ()2-s2.0-84872299916 (Scopus ID)978-1-4673-1736-8 (ISBN)
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)OCT 07-12, 2012, Algarve, Spain
Projects
GeRT
Funder
EU, FP7, Seventh Framework Programme
Available from: 2012-08-14 Created: 2012-08-14 Last updated: 2018-01-12Bibliographically approved
Charusta, K., Krug, R., Stoyanov, T., Dimitrov, D. & Iliev, B. (2012). Generation of independent contact regions on objects reconstructed from noisy real-world range data. In: 2012 IEEE International Conference on Robotics and Automation (ICRA): . Paper presented at 2012 IEEE International Conference on Robotics and Automation (ICRA), St Paul, MN, USA, May 14-18, 2012 (pp. 1338-1344). IEEE conference proceedings
Open this publication in new window or tab >>Generation of independent contact regions on objects reconstructed from noisy real-world range data
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2012 (English)In: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, p. 1338-1344Conference paper, Published paper (Refereed)
Abstract [en]

The synthesis and evaluation of multi-fingered grasps on complex objects is a challenging problem that has received much attention in the robotics community. Although several promising approaches have been developed, applications to real-world systems are limited to simple objects or gripper configurations. The paradigm of Independent Contact Regions (ICRs) has been proposed as a way to increase the tolerance to grasp positioning errors. This concept is well established, though only on precise geometric object models. This work is concerned with the application of the ICR paradigm to models reconstructed from real-world range data. We propose a method for increasing the robustness of grasp synthesis on uncertain geometric models. The sensitivity of the ICR algorithm to noisy data is evaluated and a filtering approach is proposed to improve the quality of the final result.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2012
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keywords
cameras, image reconstruction, manipulators, prototypes, robot sensing systems, dexterous manipulators, filtering theory, grippers, image reconstruction
National Category
Robotics Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-24192 (URN)10.1109/ICRA.2012.6225046 (DOI)000309406701053 ()2-s2.0-84864455775 (Scopus ID)9781467314053 (ISBN)9781467314039 (ISBN)
Conference
2012 IEEE International Conference on Robotics and Automation (ICRA), St Paul, MN, USA, May 14-18, 2012
Funder
EU, FP7, Seventh Framework Programme
Available from: 2012-08-06 Created: 2012-08-01 Last updated: 2018-01-12Bibliographically approved
Charusta, K., Krug, R., Dimitrov, D. & Iliev, B. (2012). Independent contact regions based on a patch contact model. In: 2012 IEEE International Conference on Robotics and Automation (ICRA): . Paper presented at 2012 IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, USA, May 14-18, 2012 (pp. 4162-4169). IEEE conference proceedings
Open this publication in new window or tab >>Independent contact regions based on a patch contact model
2012 (English)In: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, p. 4162-4169Conference paper, Published paper (Refereed)
Abstract [en]

The synthesis of multi-fingered grasps on nontrivial objects requires a realistic representation of the contact between the fingers of a robotic hand and an object. In this work, we use a patch contact model to approximate the contact between a rigid object and a deformable anthropomorphic finger. This contact model is utilized in the computation of Independent Contact Regions (ICRs) that have been proposed as a way to compensate for shortcomings in the finger positioning accuracy of robotic grasping devices. We extend the ICR algorithm to account for the patch contact model and show the benefits of this solution.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2012
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keywords
computational modeling, force, geometry, grasping, humans, robots, dexterous manipulators, mechanical contact, position control
National Category
Robotics Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-24193 (URN)10.1109/ICRA.2012.6225325 (DOI)000309406704028 ()2-s2.0-84864429733 (Scopus ID)978-1-4673-1405-3 (ISBN)978-1-4673-1403-9 (ISBN)
Conference
2012 IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, USA, May 14-18, 2012
Funder
EU, FP7, Seventh Framework Programme
Available from: 2012-08-06 Created: 2012-08-01 Last updated: 2018-01-12Bibliographically approved
Berglund, E., Iliev, B., Palm, R., Krug, R., Charusta, K. & Dimitrov, D. (2012). Mapping between different kinematic structures without absolute positioning during operation [Letter to the editor]. Electronics Letters, 48(18), 1110-1112
Open this publication in new window or tab >>Mapping between different kinematic structures without absolute positioning during operation
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2012 (English)In: Electronics Letters, ISSN 0013-5194, E-ISSN 1350-911X, Vol. 48, no 18, p. 1110-1112Article in journal, Letter (Refereed) Published
Abstract [en]

When creating datasets for modelling of human skills based on training examples from human motion, one can encounter the problem that the kinematics of the robot does not match the human kinematics. Presented is a simple method of bypassing the explicit modelling of the human kinematics based on a variant of the self-organising map (SOM) algorithm. While the literature contains instances of SOM-type algorithms used for dimension reduction, this reported work deals with the inverse problem: dimension increase, as we are going from 4 to 5 degrees of freedom.

Keywords
robot kinematics, self-organising feature maps, SOM-type algorithms, human kinematics, human motion, human skills modelling, kinematic structures, robot kinematics, self-organising map algorithm, training examples
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-28853 (URN)10.1049/el.2012.1085 (DOI)000308552200016 ()
Note

Research funder: European Union, HANDLE project (no project number available)

Available from: 2013-04-29 Created: 2013-04-29 Last updated: 2018-01-11Bibliographically approved
Pecora, F., Cirillo, M. & Dimitrov, D. (2012). On mission-dependent coordination of multiple vehicles under spatial and temporal constraints. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura-Algarve, Portugal, October 7-12, 2012 (pp. 5262-5269). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>On mission-dependent coordination of multiple vehicles under spatial and temporal constraints
2012 (English)In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2012, p. 5262-5269Conference paper, Published paper (Refereed)
Abstract [en]

Coordinating multiple autonomous ground vehicles is paramount to many industrial applications. Vehicle trajectories must take into account temporal and spatial requirements, e : g :; usage of floor space and deadlines on task execution. In this paper we present an approach to obtain sets of alternative execution patterns (called trajectory envelopes) which satisfy these requirements and are conflict-free. The approach consists of multiple constraint solvers which progressively refine trajectory envelopes according to mission requirements. The approach leverages the notion of least commitment to obtain easily revisable trajectories for execution.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2012
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Robotics
Research subject
Computer Science; Computer Science
Identifiers
urn:nbn:se:oru:diva-24156 (URN)000317042705135 ()2-s2.0-84872294137 (Scopus ID)978-1-4673-1737-5 (ISBN)
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura-Algarve, Portugal, October 7-12, 2012
Projects
KKS Project SAUNA (Safe Autonomous Navigation)
Funder
Knowledge Foundation
Available from: 2012-07-21 Created: 2012-07-21 Last updated: 2017-10-18Bibliographically approved
Dimitrov, D., Sherikov, A. & Wieber, P.-B. (2011). A sparse model predictive control formulation for walking motion generation. In: IEEE/RSJ International conference on Intelligent robots and systems (IROS): . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, 25-30 sept, 2011, San Francisco, CA (pp. 2292-2299). IEEE
Open this publication in new window or tab >>A sparse model predictive control formulation for walking motion generation
2011 (English)In: IEEE/RSJ International conference on Intelligent robots and systems (IROS), IEEE, 2011, p. 2292-2299Conference paper, Published paper (Refereed)
Abstract [en]

This article presents a comparison between dense and sparse model predictive control (MPC) formulations, in the context of walking motion generation for humanoid robots. The former formulation leads to smaller, the latter one to larger but more structured optimization problem. We put an accent on the sparse formulation and point out a number of advantages that it presents. In particular, motion generation with variable center of mass (CoM) height, as well as variable discretization of the preview window, come at a negligible additional computational cost. We present a sparse formulation that comprises a diagonal Hessian matrix and has only simple bounds (while still retaining the possibility to generate motions for an omnidirectional walk). Finally, we present the results from a customized code used to solve the underlying quadratic program (QP).

Place, publisher, year, edition, pages
IEEE, 2011
National Category
Robotics
Research subject
Computer Technology
Identifiers
urn:nbn:se:oru:diva-22892 (URN)10.1109/IROS.2011.6095035 (DOI)978-1-61284-454-1 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, 25-30 sept, 2011, San Francisco, CA
Available from: 2012-05-20 Created: 2012-05-20 Last updated: 2017-10-18Bibliographically approved
Krug, R., Dimitrov, D., Charusta, K. & Iliev, B. (2011). Prioritized independent contact regions for form closure grasps. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems SEP 25-30, 2011 San Francisco, CA, USA (pp. 1797-1803).
Open this publication in new window or tab >>Prioritized independent contact regions for form closure grasps
2011 (English)In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, p. 1797-1803Conference paper, Published paper (Refereed)
Abstract [en]

The concept of independent contact regions on a target object's surface, in order to compensate for shortcomings in the positioning accuracy of robotic grasping devices, is well known. However, the numbers and distributions of contact points forming such regions is not unique and depends on the underlying computational method. In this work we present a computation scheme allowing to prioritize contact points for inclusion in the independent regions. This enables a user to affect their shape in order to meet the demands of the targeted application. The introduced method utilizes frictionless contact constraints and is able to efficiently approximate the space of disturbances resistible by all grasps comprising contacts within the independent regions.

Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keywords
Contact points; Contact regions; Form closure; Frictionless contacts; Positioning accuracy; Robotic grasping; Target object
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-22333 (URN)10.1109/IROS.2011.6094653 (DOI)000297477502023 ()2-s2.0-84455200614 (Scopus ID)978-1-61284-455-8 (ISBN)9781612844541 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems SEP 25-30, 2011 San Francisco, CA, USA
Available from: 2012-04-02 Created: 2012-04-02 Last updated: 2018-01-12Bibliographically approved
Dimitrov, D., Wieber, P.-B., Stasse, O., Ferreau, H. J. & Diedam, H. (2010). An optimized linear model predictive control solver (1ed.). In: Moritz Diehl, Francois Glineur, Elias Jarlebring, Wim Michiels (Ed.), Recent advances in optimization and its applications in engineering (pp. 309-318). Heidelberg: Springer
Open this publication in new window or tab >>An optimized linear model predictive control solver
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2010 (English)In: Recent advances in optimization and its applications in engineering / [ed] Moritz Diehl, Francois Glineur, Elias Jarlebring, Wim Michiels, Heidelberg: Springer, 2010, 1, p. 309-318Chapter in book (Refereed)
Place, publisher, year, edition, pages
Heidelberg: Springer, 2010 Edition: 1
National Category
Robotics
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-22895 (URN)10.1007/978-3-642-12598-0 (DOI)978-3-642-12597-3 (ISBN)
Available from: 2012-05-20 Created: 2012-05-20 Last updated: 2017-10-17Bibliographically approved
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