Managing a Fleet of Autonomous Mobile Robots (AMR) using Cloud Robotics Platform

In this paper, we provide details of implementing a system for managing a fleet of autonomous mobile robots (AMR) operating in a factory or a warehouse premise. While the robots are themselves autonomous in its motion and obstacle avoidance capability, the target destination for each robot is provided by a global planner. The global planner and the ground vehicles (robots) constitute a multi agent system (MAS) which communicate with each other over a wireless network. Three different approaches are explored for implementation. The first two approaches make use of the distributed computing based Networked Robotics architecture and communication framework of Robot Operating System (ROS) itself while the third approach uses Rapyuta Cloud Robotics framework for this implementation. The comparative performance of these approaches are analyzed through simulation as well as real world experiment with actual robots. These analyses provide an in-depth understanding of the inner working of the Cloud Robotics Platform in contrast to the usual ROS framework. The insight gained through this exercise will be valuable for students as well as practicing engineers interested in implementing similar systems else where. In the process, we also identify few critical limitations of the current Rapyuta platform and provide suggestions to overcome them.Comment: 14 pages, 15 figures, journal pape

Approaching delivery as a service

This paper explores the new logistics business model of Delivery as a Service, a concept aiming at a more efficient, fast and customer-oriented practice, linking IT solution development, urban logistics operations, supply chain efficiency and new business models. Delivery as a Service (DaaS) is defined as a service-oriented delivery and business processes in line with customer expectations and needs in the on-demand economy. The approach of this paper is an industry report based on evidence collected in multiple exploratory European projects integrating ambitious and strategic findings on Internet of Things, urban planning, consolidation centres, transport optimisation, and clean vehicle use. It contributes to a future scenario of urban logistics business models

Unmanned Aerial Systems for Wildland and Forest Fires

Wildfires represent an important natural risk causing economic losses, human death and important environmental damage. In recent years, we witness an increase in fire intensity and frequency. Research has been conducted towards the development of dedicated solutions for wildland and forest fire assistance and fighting. Systems were proposed for the remote detection and tracking of fires. These systems have shown improvements in the area of efficient data collection and fire characterization within small scale environments. However, wildfires cover large areas making some of the proposed ground-based systems unsuitable for optimal coverage. To tackle this limitation, Unmanned Aerial Systems (UAS) were proposed. UAS have proven to be useful due to their maneuverability, allowing for the implementation of remote sensing, allocation strategies and task planning. They can provide a low-cost alternative for the prevention, detection and real-time support of firefighting. In this paper we review previous work related to the use of UAS in wildfires. Onboard sensor instruments, fire perception algorithms and coordination strategies are considered. In addition, we present some of the recent frameworks proposing the use of both aerial vehicles and Unmanned Ground Vehicles (UV) for a more efficient wildland firefighting strategy at a larger scale.Comment: A recent published version of this paper is available at: https://doi.org/10.3390/drones501001

Governance in niche development for a transition to a new mobility regime

Urban mobility is a difficult sustainability challenge; measures to reduce transport impacts produce only marginal reductions in overall energy use and CO2 emissions. Even fuel switch to electric vehicles and measures to manage traffic produce insufficient improvements. Seeking transport sustainability within the existing socio-technical regime involves policy approaches for dense cities to provide high-capacity, corridor-based public transport, expecting people to arrange their lives around such transport systems. Yet this socio-technical regime ill-fits modern mobility needs. The reluctance to use public transport stems much from this 150 year old regime configuration. The social-technical landscape has shifted significantly: travel patterns are increasingly dispersed in space and time – not funnelled into traditional corridor peak-hour movements. The key is not getting people to return to travel patterns of 100 years ago, but in a transition to a socio-technical transport regime that delivers sustainability compatible with the 21st century social-technical landscape. An opportunity may be emerging for socio-technical configurations in niche environments to effect transitions to alternate mobility futures. Autonomous vehicles are rapidly approaching market application. Since 2011, small autonomous pods have operated on segregated tracks at Heathrow Airport. In 2014 a similar system opened at the Suncheon Bay tourist area in South Korea. Since 2011 there have been public street trials of autonomous vehicles in the USA and in 2015 they became street legal in the UK. The Milton Keynes (MK) ‘Pathfinder’ project focuses on two-seat pods which do not need segregated tracks, but will run on cycleways and footpaths, mixing with cyclists and pedestrians. Trials will start in 2015, on short distance links from the railway station to destinations in Central Milton Keynes. This project forms part of the wider Milton Keynes Future Cities Programme and Open University-led MK:Smart project. This paper draws on these trials in MK to show through case study research how autonomous vehicles applications are moving beyond protected niches and, along with other developments, hold the potential to stimulate a major transition in public transport systems. The vehicles are small and each journey is individual to the passenger(s). Services do not run along corridor routes, like buses and trams, but are based on alternate rule-sets to the existing regime with individual journeys customised for each user. Such developments may therefore stimulate transition to totally different sorts of public transport systems and ultimately, socio-technical mobility regimes, by offering much more to users than any corridor system can provide. Rather than people adjusting their behaviour to bus routes, schedules and operating times, they travel directly, whenever they want, on services running 24/7. Thus these new regimes could be more compatible with lifestyle and economic trends that comprise 21st century socio-technical landscapes. As such, they provide credible alternatives to the private car, and so hold potential to deliver major sustainability gains. But such transitions face major challenges from entrenched actors within the existing regime. Taxis, minicabs and bus operators would be threatened. If the Uber cab app is being blocked by incumbent actors, they look likely to be powerful opponents of autonomous vehicle based cab services. However, MK provides an interesting innovation context where there are several overlapping smart transport niches in different stages of development. As well as autonomous pods, demand responsive minibuses are planned and inductive changed electric buses are in service. If these projects build links to each other (niche accumulation), demonstrate economic value and reproduced beyond their original experimental spaces (niche proliferation), there is potential for them to overcome incumbent resistance. In Milton Keynes, these processes could be getting close to reaching critical mass, opening up the possibility of moving closer to radical regime transitions

Towards Autonomous Aviation Operations: What Can We Learn from Other Areas of Automation?

Rapid advances in automation has disrupted and transformed several industries in the past 25 years. Automation has evolved from regulation and control of simple systems like controlling the temperature in a room to the autonomous control of complex systems involving network of systems. The reason for automation varies from industry to industry depending on the complexity and benefits resulting from increased levels of automation. Automation may be needed to either reduce costs or deal with hazardous environment or make real-time decisions without the availability of humans. Space autonomy, Internet, robotic vehicles, intelligent systems, wireless networks and power systems provide successful examples of various levels of automation. NASA is conducting research in autonomy and developing plans to increase the levels of automation in aviation operations. This paper provides a brief review of levels of automation, previous efforts to increase levels of automation in aviation operations and current level of automation in the various tasks involved in aviation operations. It develops a methodology to assess the research and development in modeling, sensing and actuation needed to advance the level of automation and the benefits associated with higher levels of automation. Section II describes provides an overview of automation and previous attempts at automation in aviation. Section III provides the role of automation and lessons learned in Space Autonomy. Section IV describes the success of automation in Intelligent Transportation Systems. Section V provides a comparison between the development of automation in other areas and the needs of aviation. Section VI provides an approach to achieve increased automation in aviation operations based on the progress in other areas. The final paper will provide a detailed analysis of the benefits of increased automation for the Traffic Flow Management (TFM) function in aviation operations

Ethical and Social Aspects of Self-Driving Cars

As an envisaged future of transportation, self-driving cars are being discussed from various perspectives, including social, economical, engineering, computer science, design, and ethics. On the one hand, self-driving cars present new engineering problems that are being gradually successfully solved. On the other hand, social and ethical problems are typically being presented in the form of an idealized unsolvable decision-making problem, the so-called trolley problem, which is grossly misleading. We argue that an applied engineering ethical approach for the development of new technology is what is needed; the approach should be applied, meaning that it should focus on the analysis of complex real-world engineering problems. Software plays a crucial role for the control of self-driving cars; therefore, software engineering solutions should seriously handle ethical and social considerations. In this paper we take a closer look at the regulative instruments, standards, design, and implementations of components, systems, and services and we present practical social and ethical challenges that have to be met, as well as novel expectations for software engineering.Comment: 11 pages, 3 figures, 2 table

Planning for Density in a Driverless World

Automobile-centered, low-density development was the defining feature of population growth in the United States for decades. This development pattern displaced wildlife, destroyed habitat, and contributed to a national loss of biodiversity. It also meant, eventually, that commutes and air quality worsened, a sense of local character was lost in many places, and the negative consequences of sprawl impacted an increasing percentage of the population. Those impacts led to something of a shift in the national attitude toward sprawl. More people than ever are fluent in concepts of “smart growth,” “new urbanism,” and “green building,” and with these tools and others, municipalities across the country are working to redevelop a central core, rethink failing transit systems, and promote pockets of density. Changing technology may disrupt this trend. Self-driving vehicles are expected to be widespread within the next several decades. Those vehicles will likely reduce congestion, air pollution, and deaths, and free up huge amounts of productive time in the car. These benefits may also eliminate much of the conventional motivation and rationale behind sprawl reduction. As the time-cost of driving falls, driverless cars have the potential to incentivize human development of land that, by virtue of its distance from settled metropolitan areas, had been previously untouched. From the broader ecological perspective, each human surge into undeveloped land results in habitat destruction and fragmentation, and additional loss of biological diversity. New automobile technology may therefore usher in better air quality, increased safety, and a significant threat to ecosystem health. Our urban and suburban environments have been molded for centuries to the needs of various forms of transportation. The same result appears likely to occur in response to autonomous vehicles, if proactive steps are not taken to address their likely impacts. Currently, little planning is being done to prepare for driverless technology. Actors at multiple levels, however, have tools at their disposal to help ensure that new technology does not come at the expense of the nation’s remaining natural habitats. This Article advocates for a shift in paradigm from policies that are merely anti-car to those that are pro-density, and provides suggestions for both cities and suburban areas for how harness the positive aspects of driverless cars while trying to stem the negative. Planning for density regardless of technology will help to ensure that, for the world of the future, there is actually a world