P1258785912xZvoO

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TOURBOT - 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
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TOURBOT 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)

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TOURBOT 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

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TOURBOT 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

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TOURBOT 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.

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TOURBOT Design
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TOURBOT 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.

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FORTH 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
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Problem Avatar Navigation

• Reactive navigation - Obstacle avoidance

Robot Model
Sonars Laser
Admissible motion command
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WP6 Avatar Navigation

• Targeted navigation - Move to a point
• on-line path planning
• cooperation with obstacle avoidance module
• fast recovery when entire passages are blocked

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TOURBOT Telepresence

• allows individual accessand control
• provides on-line images to a large set of users
• presents high-resolution images
• integrates multi-media information

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WP4 Site Information
James at work

• Map Building Completed.
• Robot Used (James)

BYZMUS
FHW
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WP4 Site Information
BYZMUS
MUSBON
Constructed Maps
FHW
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TOURBOT Deliverables
 
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TOURBOT 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

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TOURBOT Gantt Chart
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Concluding 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

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TOURBOT

• THANKS FOR YOUR ATTENTION