IFOR

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Intelligent off-road vehicleswww.umu.se\proj\ifor

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What is IFOR ?

• A initiavive for RD for intelligent off-road
  technology
• Initiated by the industry in 2001
• Collaboration between academia and industry

Academia Umeå University Swedish University of
Agricultural Sciences Skogforsk
Industry Komatsu Forest Holmen Skog Sveaskog BAE
Systems Hägglunds LKAB network of other
research centers and companies




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• Topics
• Motion planning, motion control for mechanical
  systems
• Feedback design for hydraulically actuated cranes
• Learning algorithms for robot behaviours
• Field robotics - path tracking and localization
  techniques, sensor vision
• Human-machine-interaction
• Equipment and techniques
• Forest machines
• Full sized in-door hydraulic crane
• Portable prototyping hardware for feedback
  control
• Sensors (dgps, laser radar, hydraulic pressure,
  stereo camera,)
• Funding
• gt 20 MSEK since 2001
• Kempe Foundation, Sveaskog, Vinnova,
• Komatsu Forest, Sparbanksstiftelsen Norrland,
• 1 prof, 4 PhD, 4 phD-students collaborators at
  industry and univ

Intelligent Off-Road Vehicles Short term
optimal interaction between operator-machine-envi
ronment Long term unmanned off-road vehicles
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Projects

• Smart Crane Control
• crane tip control
• optimized motions speed and stability
• semi-automation, e.g. automatich loading
• VR-enabled remote operation
• Autonomous navigation
• unmanned transportation of logs
• machine learning and sensor fusion
• first prototype demonstrated in Dec 2005
• Other project activities
• Simulation of off-road vehicles
• Recognizing logs in digital images
• Sensor technology for mining industry

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Movies - Autonomous navigation
www.cs.umu.se/research/ifor/IFORnav/videos.htm
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Movies - crane control
Fast and stable
Mouse-click control over the internet
Over obstacle