Department of Electrical Engineering and Automation

Research

Mobile Robotics group focuses on enabling autonomous physical agents (robots) to safely, successfully, and legibly operate in dynamic environments shared with humans. In our research we are focusing on addressing the real-world needs through development of methods of embodied intelligence.
MoD_eps

Maps of Dynamics

Change and motion are inherent features of reality. Thus, the assumption that only static parts of the environment are worth maintaining substantially limits the information available to robots. Therefore, we focus on exploring methods to capture, represent, and maintain accurate spatio-temporal models of dynamic environments.

Department of Electrical Engineering and Automation
project pipeline

Autonomous Driving

We develop computational models and use Virtual Reality to simulate and understand human behavior and interactions with autonomous vehicles, aiming to create socially-aware AVs that can predict human trajectories and intentions.

Department of Electrical Engineering and Automation
multi-task robots

Multi-Robot Task Allocation and Coordination in Dynamic Environments

This project focuses on enabling large autonomous robot fleets to operate effectively in dynamic environments with uncontrolled agents like humans present. The key challenges involve developing methods for Multi-Robot Task Allocation (MRTA) and fleet coordination that can handle environmental changes and interactions with people in a safe, trustworthy manner.

Department of Electrical Engineering and Automation

Code Repositories

The code for our recent paper is available on our group's GitHub page.

oicture of robot

Aalto University Mobile Robotics Group (external link)

The code for our recent paper is available on our group's GitHub page.

Inventory

Software

Publications

A 3D Terrain Generator: Enhancing Robotics Simulations with GANs

Silvia Arellano, Beatriz Otero, Tomasz Piotr Kucner, Ramon Canal 2023 Machine Learning, Optimization, and Data Science - 9th International Conference, LOD 2023

Exploring Large Language Models for Trajectory Prediction: A Technical Perspective

Farzeen Munir, Tsvetomila Mihaylova, Shoaib Azam, Tomasz Piotr Kucner, Ville Kyrki 2024 HRI 2024 Companion - Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

Radar-Lidar Fusion for Object Detection by Designing Effective Convolution Networks

Farzeen Munir, Shoaib Azam, Tomasz Kucner, Ville Kyrki, Moongu Jeon 2023 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023

CLiFF-LHMP: Using Spatial Dynamics Patterns for Long- Term Human Motion Prediction

Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner, Luigi Palmieri, Kai O. Arras, Achim J. Lilienthal, Martin Magnusson 2023 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023

Learning State-Space Models for Mapping Spatial Motion Patterns

Junyi Shi, Tomasz Piotr Kucner 2023 Proceedings of the 11th European Conference on Mobile Robots, ECMR 2023

Survey of maps of dynamics for mobile robots

Tomasz Piotr Kucner, Martin Magnusson, Sariah Mghames, Luigi Palmieri, Francesco Verdoja, Chittaranjan Srinivas Swaminathan, Tomáš Krajník, Erik Schaffernicht, Nicola Bellotto, Marc Hanheide, Achim J Lilienthal 2023 The International Journal of Robotics Research

The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots

Sergi Molina, Anna Mannucci, Martin Magnusson, Daniel Adolfsson, Henrik Andreasson, Mazin Hamad, Saeed Abdolshah, Ravi Teja Chadalavada, Luigi Palmieri, Timm Linder, Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, Marc Hanheide, , Manuel Fernandez-Carmona, Grzegorz Cielniak, Tom Duckett, Federico Pecora, Simon Bokesand, Kai O. Arras, Sami HaddadinAchim J. Lilienthal 2023 IEEE ROBOTICS AND AUTOMATION MAGAZINE

The Magni Human Motion Dataset : Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized

Tim Schreiter, Tiago Rodrigues de Almeida, Yufei Zhu, Eduardo Gutiérrez Maestro, Lucas Morillo-Mendez, Andrey Rudenko, Tomasz P. Kucner, Oscar Martinez Mozos, Martin Magnusson, Luigi Palmieri, Kai O. Arras, Achim Lilienthal 2023 31st IEEE International Conference on Robot & Human Interactive Communication

THÖR-Magni: Comparative Analysis of Deep Learning Models for Role-conditioned Human Mtion Prediction

Tiago Rodrigues De Almeida, Andrey Rudenko, Tim Schreiter, Yufei Zhu, Eduardo Gutierrez Maestro, Lucas Morillo-Mendez, Tomasz P. Kucner, Oscar Martinez Mozos, Martin Magnusson, Luigi Palmieri, Kai O. Arras, Achim J. Lilienthal 2023 Proceedings - 2023 IEEE/CVF International Conference on Computer Vision Workshops, ICCVW 2023

Benchmarking the utility of maps of dynamics for human-aware motion planning

Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, Martin Magnusson, Luigi Palmieri, Sergi Molina, Anna Mannucci, Federico Pecora, Achim J. Lilienthal 2022 Frontiers in Robotics and AI

Generating people flow from architecture of real unseen environments

Francesco Verdoja, Tomasz Kucner, Ville Kyrki 2022 PNARUDE Workshop: Perception and Navigation for Autonomous Robotics in Unstructured and Dynamic Environments - Kyoto International Conference Center (ICC Kyoto), Kyoto, Japan

Robust Structure Identification and Room Segmentation of Cluttered Indoor Environments From Occupancy Grid Maps

Matteo Luperto, Tomasz Piotr Kucner, Andrea Tassi, Martin Magnusson, Francesco Amigoni 2022 IEEE Robotics and Automation Letters

Multiple robots avoid humans to get the jobs done: An approach to human-aware task allocation

Filip Surma, Tomasz Piotr Kucner, Masoumeh Mansouri 2021 2021 10th European Conference on Mobile Robots, ECMR 2021 - Proceedings

Natural Criteria for Comparison of Pedestrian Flow Forecasting Models

Tomáš Vintr, Zhi Yan, Kerem Eyisoy, Filip Kubiš, Jan Blaha, Jiří Ulrich, Chittaranjan S. Swaminathan, Sergi Molina, Tomasz P. Kucner, Martin Magnusson, Gregorz Cielniak, Jan Faigl, Tom Duckett, Achim J. Lilienthal, Tomáš Krajnik 2021 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020

Robust Frequency-Based Structure Extraction

Tomasz Piotr Kucner, Matteo Luperto, Stephanie Lowry, Martin Magnusson, Achim J. Lilienthal 2021 2021 IEEE International Conference on Robotics and Automation, ICRA 2021

Closing Remarks

Tomasz Piotr Kucner, Achim J. Lilienthal, Martin Magnusson, Luigi Palmieri, Chittaranjan Srinivas Swaminathan 2020 Cognitive Systems Monographs

Introduction

Tomasz Piotr Kucner, Achim J. Lilienthal, Martin Magnusson, Luigi Palmieri, Chittaranjan Srinivas Swaminathan 2020 Cognitive Systems Monographs

Maps of Dynamics

Tomasz Piotr Kucner, Achim J. Lilienthal, Martin Magnusson, Luigi Palmieri, Chittaranjan Srinivas Swaminathan 2020 Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots

Modelling Motion Patterns with Circular-Linear Flow Field Maps

Tomasz Piotr Kucner, Achim J. Lilienthal, Martin Magnusson, Luigi Palmieri, Chittaranjan Srinivas Swaminathan 2020 Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots

Preface

Tomasz Piotr Kucner, Martin Magnusson, Chittaranjan Srinivas Swaminathan, Achim J. Lilienthal, Luigi Palmieri 2020 Cognitive Systems Monographs

Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots

Tomasz Kucner, Achim J. Lilienthal, Martin Magnusson, Luigi Palmieri, Chittaranjan Srinivas Swaminathan 2020 Cognitive Systems Monographs

THÖR: Human-Robot Navigation Data Collection and Accurate Motion Trajectories Dataset

Andrey Rudenko, Tomasz P. Kucner, Chittaranjan S. Swaminathan, Ravi T. Chadalavada, Kai O. Arras, Achim J. Lilienthal 2020 IEEE Robotics and Automation Letters

Multi-Domain Airflow Modeling and Ventilation Characterization Using Mobile Robots, Stationary Sensors and Machine Learning

Victor Hernandez Bennetts, Kamarulzaman Kamarudin, Thomas Wiedemann, Tomasz Piotr Kucner, Sai Lokesh Somisetty, Achim J. Lilienthal 2019 Sensors

Time-varying pedestrian flow models for service robots

Tomas Vintr, Sergi Molina, Ransalu Senanayake, George Broughton, Zhi Yan, Jiri Ulrich, Tomasz Piotr Kucner, Chittaranjan Srinivas Swaminathan, Filip Majer, Maria Stachova, Achim J. Lilienthal, Tomas Krajnik 2019 Proceedings of European Conference on Mobile Robots, ECMR 2019

2D Spatial Keystone Transform for Sub-Pixel Motion Extraction from Noisy Occupancy Grid Map

Hongqi Fan, Dawei Lu, Tomasz P. Kucner, Martin Magnusson, Achim J. Lilienthal 2018 Proceedings of 21st International Conference on Information Fusion, FUSION 2018

A Dual PHD Filter for Effective Occupancy Filtering in a Highly Dynamic Environment

Hongqi Fan, Tomasz Piotr Kucner, Martin Magnusson, Tiancheng Li, Achim J. Lilienthal 2018 IEEE Transactions on Intelligent Transportation Systems

Down the CLiFF: Flow-Aware Tralatory Planning under Motion Pattern Uncertainty

Chittaranjan Srinivas Swaminathan, Tomasz Piotr Kucner, M. Magnusson, Luigi Palmieri, Achim J. Lilienthal 2018 Proceedings of International Conference on Intelligent Robots and Systems, IROS 2018

Learning to detect misaligned point clouds

Håkan Almqvist, Martin Magnusson, Tomasz P. Kucner, Achim J. Lilienthal 2018 Journal of Field Robotics

Enabling Flow Awareness for Mobile Robots in Partially Observable Environments

Tomasz Piotr Kucner, Martin Magnusson, Erik Schaffernicht, Victor Hernandez Bennetts, Achim J. Lilienthal 2017 IEEE Robotics and Automation Letters

Kinodynamic motion planning on Gaussian mixture fields

Luigi Palmieri, Tomasz P. Kucner, Martin Magnusson, Achim J. Lilienthal, Kai O. Arras 2017 Proceedings of IEEE International Conference on Robotics and Automation, ICRA 2017

Probabilistic Air Flow Modelling Using Turbulent and Laminar Characteristics for Ground and Aerial Robots

Victor Hernandez Bennetts, Tomasz Piotr Kucner, Erik Schaffernicht, Patrick P. Neumann, Han Fan, Achim J. Lilienthal 2017 IEEE Robotics and Automation Letters

Semi-supervised 3D place categorisation by descriptor clustering

Martin Magnusson, Tomasz Piotr Kucner, Saeed Gholami Shahbandi, Henrik Andreasson, Achim J. Lilienthal 2017 Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017

SPENCER: A socially aware service robot for passenger guidance and help in busy airports

Rudolph Triebel, Kai O. Arras, Rachid Alami, Lucas Beyer, Stefan Breuers, Raja Chatila, Mohamed Chetouani, Daniel Cremers, Vanessa Evers, Michelangelo Fiore, Omar A. Islas Ramírez, Michiel Joosse, Harmish Khambhaita, Tomasz Kucner, Bastian Leibe, , Achim J. Lilienthal, Timm Linder, Manja Lohse, Martin Magnusson, Billy OkalLuigi Palmieri, Umer Rafi, Marieke van Rooij, Hayley Hung, Lu Zhang 2016 Results of the 10th International Conference

Towards occupational health improvement in foundries through dense dust and pollution monitoring using a complementary approach with mobile and stationary sensing nodes

Victor Hernandez Bennetts, Erik Schaffernicht, Achim J. Lilienthal, Han Fan, Tomasz Piotr Kucner, Lena Andersson, Anders Johansson 2016 Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

Quantitative evaluation of coarse-to-fine loading strategies for material rehandling

Martin Magnusson, Tomasz Kucner, Achim J. Lilienthal 2015 Proceedings of IEEE International Conference on Automation Science and Engineering, CASE 2015

Where am I? An NDT-based prior for MCL

Tomasz Piotr Kucner, M. Magnusson, Achim J. Lilienthal 2015 Proceedings of European Conference on Mobile Robots, ECMR 2015

Conditional transition maps: Learning motion patterns in dynamic environments

Tomasz Kucner, Jari Saarinen, Martin Magnusson, Achim J. Lilienthal 2013 Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013
  • Published:
  • Updated:
Share
URL copied!