Title: P1258785912xZvoO
1TOURBOT - 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 - Hellas Heraklion, Crete,
Greece trahania_at_ics.forth.gr http//www.ics.forth.
gr/tourbot
2TOURBOT 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)
3TOURBOT Data
RTD Project Funded by EU-IST Programme
- 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
4TOURBOT Concept
Tele-presence in museums through robotic avatars
(TOUr-guide RoBOTs) See Through the Eyes of the
Robot
- 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
5TOURBOT 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.
6TOURBOT Design
7TOURBOT 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.
8FORTH UNIBONN UNIFR
Environment
TOURBOT Kick-off Meeting
FHW UNIFR UNIBONN
Navigation SW
Sensors
Data Link
Mobile Platform
Platform bus
Processing Control Unit
On-site User
THEON
- TOURBOT System
- Technical point of view
Wireless Link
System Administrator
Information and Data Base
Off-board Workstation
UNIBONN UNIFR MUSBON BYZMUS
ISDN Link
Remote User
WWW
FHW UNIFR UNIBONN
9Problem Avatar Navigation
- Reactive navigation - Obstacle avoidance
Robot Model
Sonars Laser
Admissible motion command
10WP6 Avatar Navigation
- Targeted navigation - Move to a point
- on-line path planning
- cooperation with obstacle avoidance module
- fast recovery when entire passages are blocked
11TOURBOT Telepresence
- allows individual accessand control
- provides on-line images to a large set of users
- presents high-resolution images
- integrates multi-media information
12WP4 Site Information
James at work
- Map Building Completed.
- Robot Used (James)
BYZMUS
FHW
13WP4 Site Information
BYZMUS
MUSBON
Constructed Maps
FHW
14TOURBOT Deliverables
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15TOURBOT 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
16TOURBOT Gantt Chart
17Concluding 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
18TOURBOT
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- THANKS FOR YOUR ATTENTION