Safe and robust autonomous systems are one of the - if not the - most important instantiation of
embedded systems in middle-range future, simply because the application domains are extremely
manifold, from transportation over manufacturing to farming, surveillance (in-door, land, air, and sea)
to care as well as entertainment. Consequently, at the ARTEMIS SummerCamp 2009, the Strategy
Group identified "Autonomous Systems" as one of the targets of the next ARTEMIS SRA.
However, today a large number of different approaches and platforms exist, rendering an economic
realization of such systems currently unrealistic (perhaps besides the manufacturing domain, where
robots are already industrially exploited). Simultaneously, as such systems increasingly share
environment - and even closely cooperate - with humans, there is an urgent need for providing any
possible means and measures to assert and guarantee their dependability, in particular safety and
robustness. While a huge log of analysing and testing strategies and methods for conventional systems
exist, these are of limited value for mobile autonomous systems with complex sensors and behaviour.
Hence, R3-COP will progress autonomous systems in two directions: technology and methodology.
Technology: R3-COP will develop a fault-tolerant high-performance processing platform, based on a
multi-core architecture, as well as innovative system components for robust perception of the
environment including sensor fusion, and for reasoning and reliable action control. Energy-efficient
drivetrains will also be considered.
Methodology: a methodology-based development framework will enable economic development of
reference platforms for various robotic application domains as well as dedicated solutions. A tool
platform will allow for guarded application of the design methodology, including new test strategies
and tools.
The outcomes will be applied in a series of demonstrators from ground-based, airborne and
underwater domains.

Description in Czech
Safe and robust autonomous systems are one of the - if not the - most important instantiation of
embedded systems in middle-range future, simply because the application domains are extremely
manifold, from transportation over manufacturing to farming, surveillance (in-door, land, air, and sea)
to care as well as entertainment. Consequently, at the ARTEMIS SummerCamp 2009, the Strategy
Group identified "Autonomous Systems" as one of the targets of the next ARTEMIS SRA.
However, today a large number of different approaches and platforms exist, rendering an economic
realization of such systems currently unrealistic (perhaps besides the manufacturing domain, where
robots are already industrially exploited). Simultaneously, as such systems increasingly share
environment - and even closely cooperate - with humans, there is an urgent need for providing any
possible means and measures to assert and guarantee their dependability, in particular safety and
robustness. While a huge log of analysing and testing strategies and methods for conventional systems
exist, these are of limited value for mobile autonomous systems with complex sensors and behaviour.
Hence, R3-COP will progress autonomous systems in two directions: technology and methodology.
Technology: R3-COP will develop a fault-tolerant high-performance processing platform, based on a
multi-core architecture, as well as innovative system components for robust perception of the
environment including sensor fusion, and for reasoning and reliable action control. Energy-efficient
drivetrains will also be considered.
Methodology: a methodology-based development framework will enable economic development of
reference platforms for various robotic application domains as well as dedicated solutions. A tool
platform will allow for guarded application of the design methodology, including new test strategies
and tools.
The outcomes will be applied in a series of demonstrators from ground-based, airborne and
underwater domains.

Keywords
robotics, embedded systems

7H10011

English

Smrž Pavel, doc. RNDr., Ph.D. - principal person responsible

Department of Computer Graphics and Multimedia
- responsible department (6.4.2010 - not assigned)

HRADIŠ, M.; BERAN, V.; ŘEZNÍČEK, I.; HEROUT, A.; BAŘINA, D.; VLČEK, A.; ZEMČÍK, P. Brno University of Technology at TRECVid 2010 SIN, CCD. In 2010 TREC Video Retrieval Evaluation Notebook Papers. Gaithersburg, MD: National Institute of Standards and Technology, 2010. p. 1-10.
Detail

HULÍK, R.; ŠPANĚL, M.: 3D model reconstruction from point clouds. URL: http://www.fit.vutbr.cz/research/prod/index.php?id=208¬itle=1. (Software)
Detail

ŠOLONY, M.: Automatic robot localization based on visual and range sensors. URL: https://wis.fit.vutbr.cz/FIT/db/vav/product.php?file=%2Fproduct%2F207%2FKinMap.zip&id=207. (Software)
Detail

ŠOLONY, M.; MARŠÍK, L.: Nahrávací systém robotických dat z více synchronizovaných senzorů. URL: http://www.fit.vutbr.cz/research/prod/index.php?id=205¬itle=1. (Software)
Detail

SVOBODA, P.; BERAN, V.: Obstacle detector for robotic systems based on visual and range sensor fusion. URL: http://www.fit.vutbr.cz/research/prod/index.php?id=206¬itle=1. (Software)
Detail

ZEMČÍK, P.; MARŠÍK, L.; ŠIROKÝ, V.; FUČÍK, O.; KORČEK, P.; ŠUSTEK, J. AX32 Low Power Embedded Video Enabled System Using FPGA. Proceedings of the 21th Conference on Field Programmable Logic and Applications Workshop. Chania: Institute of Electrical and Electronics Engineers, 2011. p. 1.ISBN: 978-0-7695-4529-5.
Detail

ŠOLONY, M.; ŽÁK, P.; BERAN, V.; ŠPANĚL, M. Camera Localization Using Incomplete Chessboard Pattern. In VISAPP 2011 - Proceedings of the International Conference on Computer Vision Theory and Application. Algarve: Institute for Systems and Technologies of Information, Control and Communication, 2011. p. 415-418. ISBN: 978-989-8425-47-8.
Detail

MARŠÍK, L. Embedded Radar Signal Processing. Proceedings of the 17th Conference STUDENT EEICT 2011. Volume 3. Brno: Brno University of Technology, 2011. p. 113.ISBN: 978-80-214-4273-3.
Detail

SCHAFFROTH, P.; SVOBODA, P. Fast corner point detection through machine learning. Proceedings of the 17th Conference STUDENT EEICT 2011. Volume 3. Brno: Brno University of Technology, 2011. p. 537.ISBN: 978-80-214-4273-3.
Detail

HULÍK, R.; BERAN, V.; ŠPANĚL, M.; KRŠEK, P.; SMRŽ, P. Fast and Accurate Plane Segmentation in Depth Maps for Indoor Scenes. In IEEE International Conference on Intelligent Robots and Systems. Proceedings of the International Conference on Intelligent Robots and Systems. Vilamoura, Algarve: Department of Computer Graphics and Multimedia FIT BUT, 2012. iss. 12, p. 1665-1670. ISBN: 978-1-4673-1737-5. ISSN: 2153-0858.
Detail

KLICNAR, L.; BERAN, V. Robust motion segmentation for on-line application. In Proceedings of WSCG'12. 20th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision, WSCG 2012 - Conference Proceedings. Plzeň: University of West Bohemia in Pilsen, 2012. p. 205-212. ISBN: 978-80-86943-79-4.
Detail

HULÍK, R.; KRŠEK, P. Local Projections Method and Curvature Approximation on 3D Polygonal Models. Communications proceedings of WSCG. June 25-28, 2012. Plzen: Department of Computer Graphics and Multimedia FIT BUT, 2012. p. 223.ISBN: 978-80-86943-79-4.
Detail

NAVRÁTIL, J.; KOBRTEK, J.; ZEMČÍK, P. A Survey on Methods for Omnidirectional Shadow Rendering. Journal of WSCG, 2012, vol. 20, iss. 2, p. 89-96. ISSN: 1213-6972.
Detail

ROZMAN, J. Design of a system for automatic operation in storehouse. Proceedings of CSE 2012 International Scientific Conference on Computer Science and Engeneering. Košice: The University of Technology Košice, 2012. p. 1.ISBN: 978-80-8143-049-7.
Detail

LUŽA, R.; ROZMAN, J.; ZBOŘIL, F. Robotic Arm Controlling in ROS Environment. CSSim. Brno: Brno University of Technology, 2012. p. 61.ISBN: 978-80-214-4576-5.
Detail

KUČIŠ, M.; ZEMČÍK, P. Simulation of Camera Features. Proceedings of the 16th Central European Seminar on Computer Graphics. Smolenice: Technical University Wien, 2012. p. 117.ISBN: 978-3-9502533-4-4.
Detail

SCHOITSCH, E.; HERZNER, W.; ALONSO-MONTES, C.; CHMELAŘ, P.; DALGAARD, L. Towards Composable Robotics: The R3-COP Knowledge-Base Driven Technology Platform. Computer Safety, Reliability, and Security (2012). Lecture Notes in Computer Science. LNCS. Magdeburg: Springer Verlag, 2012. iss. 7613, p. 427.ISBN: 978-3-642-33674-4. ISSN: 0302-9743.
Detail

KUČIŠ, M.; ZEMČÍK, P.: Simulator of Camera Features. URL: https://www.fit.vut.cz/research/product/279/. (Software)
Detail

CHMELAŘ, P.; DALGAARD, L.; SMRŽ, P.; ZEMČÍK, P.: R3-COP Knowledge Base. URL: http://www.fit.vutbr.cz/research/prod/index.php?id=294. (Software)
Detail

ROZMAN, J.; LUŽA, R.; BAIZID, K.; BERAN, V.: Obstacle avoidance module for robotic systems. URL: http://www.fit.vutbr.cz/research/view_product.php.cs?id=295. (Software)
Detail

HULÍK, R.; ŠPANĚL, M.; MATERNA, Z.; SMRŽ, P. Continuous Plane Detection in Point-cloud Data Based on 3D Hough Transform. Journal of visual communication and image representation, 2013, vol. 25, iss. 1, p. 86-97. ISSN: 1047-3203.
Detail

POLOK, L.; ILA, V.; ŠOLONY, M.; ZEMČÍK, P.; SMRŽ, P. Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications. Proceedings of 2013 IEEE International Conference on Robotics and Automation. Karlsruhe: IEEE Computer Society, 2013. p. 123.ISBN: 978-1-4673-5642-8.
Detail

POLOK, L.; ILA, V.; SMRŽ, P. Cache Efficient Implementation for Block Matrix Operations. Proceedings of the 21st High Performance Computing Symposium (HPC'13). San Diego: Association for Computing Machinery, 2013. p. 698.ISBN: 1-56555-350-0.
Detail

ILA, V.; POLOK, L.; SMRŽ, P.; ŠOLONY, M.; ZEMČÍK, P. Incremental Cholesky Factorization for Least Squares Problems in Robotics. Proceedings of The 2013 IFAC Intelligent Autonomous Vehicles Symposium. Gold Coast: IEEE Computer Society, 2013. p. 1.ISBN: 978-3-902823-36-6.
Detail

KUČIŠ, M.; ZEMČÍK, P.; ZENDEL, O.; HERZNER, W. Overview of Simulation of Video-Camera Effects for Robotic Systems in R3-COP. Computer Safety, Reliability, and Security - 32nd International Conference. Toulouse: Springer Science+Business Media B.V., 2013. p. 1.ISBN: 2-907801-09-0.
Detail

KUČIŠ, M.; ZEMČÍK, P.: Open Graphics Post-processing. URL: https://github.com/michalkucis/OpenGPP. (Software)
Detail

ARRICHIELLO, F.; BAIZID, K.; BERAN, V.; CHELLALI, R.; LUŽA, R. RRS: Rapidly-Exploring Random Snakes a New Method for Mobile Robot Path Planning. In INTELLIGENT AUTONOMOUS SYSTEMS 13. Advances in Intelligent Systems and Computing. 2016. iss. 1, p. 291-305. ISSN: 2194-5357.
Detail

Responsibility: Smrž Pavel, doc. RNDr., Ph.D.