Simultaneous localization and odometry self calibration for mobile robot

This paper presents both the theory and the experimental results of a method allowing simultaneous robot localization and odometry error estimation (both systematic and non-systematic) during the navigation. The estimation of the systematic components is carried out through an augmented Kalman filter, which estimates a state containing the robot configuration and the parameters characterizing the systematic component of the odometry error. It uses encoder readings as inputs and the readings from a laser range finder as observations. In this first filter, the non-systematic error is defined as constant and it is overestimated. Then, the estimation of the real non-systematic component is carried out through another Kalman filter, where the observations are obtained by two subsequent robot configurations provided by the previous augmented Kalman filter. There, the systematic parameters in the model are regularly updated with the values estimated by the first filter. The approach is theoretically developed for both the synchronous and the differential drive. A first validation is performed through very accurate simulations where both the drive systems are considered. Then, a series of experiments are carried out in an indoor environment by using a mobile platform with a differential driv

Hybrid, metric - topological, mobile robot navigation

This thesis presents a recent research on the problem of environmental modeling for both localization and map building for wheel-based, differential driven, fully autonomous and self-contained mobile robots. The robots behave in an indoor office environment. They have a multi-sensor setup where the encoders are used for odometry and two exteroperceptive sensors, a 360° laser scanner and a monocular vision system, are employed to perceive the surrounding. The whole approach is feature based meaning that instead of directly using the raw data from the sensor features are firstly extracted. This allows the filtering of noise from the sensors and permits taking account of the dynamics in the environment. Furthermore, a properly chosen feature extraction has the characteristic of better isolating informative patterns. When describing these features care has to be taken that the uncertainty from the measurements is taken into account. The representation of the environment is crucial for mobile robot navigation. The model defines which perception capabilities are required and also which navigation technique is allowed to be used. The presented environmental model is both metric and topological. By coherently combining the two paradigms the advantages of both methods are added in order to face the drawbacks of a single approach. The capabilities of the hybrid approach are exploited to model an indoor office environment where metric information is used locally in structures (rooms, offices), which are naturally defined by the environment itself while the topology of the whole environment is resumed separately thus avoiding the need of global metric consistency. The hybrid model permits the use of two different and complementary approaches for localization, map building and planning. This combination permits the grouping of all the characteristics which enables the following goals to be met: Precision, robustness and practicability. Metric approaches are, per definition, precise. The use of an Extended Kalman Filter (EKF) permits to have a precision which is just bounded by the quality of the sensor data. Topological approaches can easily handle large environments because they do not heavily rely on dead reckoning. Global consistency can, therefore, be maintained for large environments. Consistent mapping, which handle large environments, is achieved by choosing a topological localization approach, based on a Partially Observable Markov Decision Process (POMDP), which is extended to simultaneous localization and map building. The theory can be mathematically proven by making some assumptions. However, as stated during the whole work, at the end the robot itself has to show how good the theory is when used in the real world. For this extensive experimentation for a total of more than 9 km is performed with fully autonomous self-contained robots. These experiments are then carefully analyzed. With the metric approach precision with error bounds of about 1 cm and less than 1 degree is further confirmed by ground truth measurements with a mean error of less than 1 cm. The topological approach is successfully tested by simultaneous localization and map building where the automatically created maps turned out to work better than the a priori maps. Relocation and closing the loop are also successfully tested

A comparison of line extraction algorithms using 2D range data for indoor mobile robotics

This paper presents an experimental evaluation of different line extraction algorithms applied to 2D laser scans for indoor environments. Six popular algorithms in mobile robotics and computer vision are selected and tested. Real scan data collected from two office environments by using different platforms are used in the experiments in order to evaluate the algorithms. Several comparison criteria are proposed and discussed to highlight the advantages and drawbacks of each algorithm, including speed, complexity, correctness and precision. The results of the algorithms are compared with ground truth using standard statistical methods. An extended case study is performed to further evaluate the algorithms in a SLAM applicatio

Safety functional requirements for “Robot Fleets for Highly effective Agriculture and Forestry Management”

This paper summarizes the steps to be followed in order to achieve a safety verified design of RHEA robots units. It provides a detailed description of current international standards as well as scientific literature related to safety analysis and fault detection and isolation. A large committee of partners has been involved in this paper, which may be considered as a technical committee for the revision of the progress of safety development throughout the progress of RHEA project. Partners related to agricultural machinery, automation, and application development declare the interest of providing a stable framework for bringing the safety verification level required to be able to commercial unmanned vehicles such as those described in the RHEA flee

Evaluation of plan complexity and dosimetric plan quality of total marrow and lymphoid irradiation using volumetric modulated arc therapy

PurposeTo assess the impact of the planner's experience and optimization algorithm on the plan quality and complexity of total marrow and lymphoid irradiation (TMLI) delivered by means of volumetric modulated arc therapy (VMAT) over 2010-2022 at our institute. MethodsEighty-two consecutive TMLI plans were considered. Three complexity indices were computed to characterize the plans in terms of leaf gap size, irregularity of beam apertures, and modulation complexity. Dosimetric points of the target volume (D2%) and organs at risk (OAR) (Dmean) were automatically extracted to combine them with plan complexity and obtain a global quality score (GQS). The analysis was stratified based on the different optimization algorithms used over the years, including a knowledge-based (KB) model. Patient-specific quality assurance (QA) using Portal Dosimetry was performed retrospectively, and the gamma agreement index (GAI) was investigated in conjunction with plan complexity. ResultsPlan complexity significantly reduced over the years (r = -0.50, p < 0.01). Significant differences in plan complexity and plan dosimetric quality among the different algorithms were observed. Moreover, the KB model allowed to achieve significantly better dosimetric results to the OARs. The plan quality remained similar or even improved during the years and when moving to a newer algorithm, with GQS increasing from 0.019 +/- 0.002 to 0.025 +/- 0.003 (p < 0.01). The significant correlation between GQS and time (r = 0.33, p = 0.01) indicated that the planner's experience was relevant to improve the plan quality of TMLI plans. Significant correlations between the GAI and the complexity metrics (r = -0.71, p < 0.01) were also found. ConclusionBoth the planner's experience and algorithm version are crucial to achieve an optimal plan quality in TMLI plans. Thus, the impact of the optimization algorithm should be carefully evaluated when a new algorithm is introduced and in system upgrades. Knowledge-based strategies can be useful to increase standardization and improve plan quality of TMLI treatments

Automatic planning of the lower extremities for total marrow irradiation using volumetric modulated arc therapy

Purpose Total marrow (and lymphoid) irradiation (TMI-TMLI) is limited by the couch travel range of modern linacs, which forces the treatment delivery to be split into two plans with opposite orientations: a head-first supine upper-body plan, and a feet-first supine lower extremities plan. A specific field junction is thus needed to obtain adequate target coverage in the overlap region of the two plans. In this study, an automatic procedure was developed for field junction creation and lower extremities plan optimization. Methods Ten patients treated with TMI-TMLI at our institution were selected retrospectively. The planning of the lower extremities was performed automatically. Target volume parameters (CTV_J-V-98% > 98%) at the junction region and several dose statistics (D-98%, D-mean, and D-2%) were compared between automatic and manual plans. The modulation complexity score (MCS) was used to assess plan complexity. Results The automatic procedure required 60-90 min, depending on the case. All automatic plans achieved clinically acceptable dosimetric results (CTV_J-V-98% > 98%), with significant differences found at the junction region, where D-mean and D-2% increased on average by 2.4% (p < 0.03) and 3.0% (p < 0.02), respectively. Similar plan complexity was observed (median MCS = 0.12). Since March 2022, the automatic procedure has been introduced in our clinic, reducing the TMI-TMLI simulation-to-delivery schedule by 2 days. Conclusion The developed procedure allowed treatment planning of TMI-TMLI to be streamlined, increasing efficiency and standardization, preventing human errors, while maintaining the dosimetric plan quality and complexity of manual plans. Automated strategies can simplify the future adoption and clinical implementation of TMI-TMLI treatments in new centers

Stereotactic Ablative Radiotherapy (SABR) in inoperable oligometastatic disease from colorectal cancer: a safe and effective approach

Background: To assess the safety and efficacy of Stereotactic Ablative Radiotherapy (SABR) in oligometastatic patients from colorectal cancer. Methods: 82 patients with 1-3 inoperable metastases confined to one organ (liver or lung), were treated with SABR for a total of 112 lesions in an observational study. Prescription dose ranged between 48 and 75Gy in 3 or 4 consecutive fractions. Primary end-points were local control (LC), overall survival (OS) and progression-free survival (PFS). Secondary end-point was toxicity. Results: Median follow-up was 24 months (range 3-47). One, two and three years LC rate was 90%,80% and 75% (85%,75% and 70% for lung and 95%, 90% and 85% for liver metastases; no statistically significance was found). The difference in LC between the subgroup of lesions treated with >= 60 Gy (n = 58) and those irradiated with 3 cm (p 3 toxicity. Conclusions: SABR is a safe and feasible alternative treatment of oligometastatic colorectal liver and lung metastases in patients not amenable to surgery or other ablative treatments

Internal Guidelines for Reducing Lymph Node Contour Variability in Total Marrow and Lymph Node Irradiation

Background: The total marrow and lymph node irradiation (TMLI) target includes the bones, spleen, and lymph node chains, with the latter being the most challenging structures to contour. We evaluated the impact of introducing internal contour guidelines to reduce the inter- and intraobserver lymph node delineation variability in TMLI treatments. Methods: A total of 10 patients were randomly selected from our database of 104 TMLI patients so as to evaluate the guidelines' efficacy. The lymph node clinical target volume (CTV_LN) was recontoured according to the guidelines (CTV_LN_GL_RO1) and compared to the historical guidelines (CTV_LN_Old). Both topological (i.e., Dice similarity coefficient (DSC)) and dosimetric (i.e., V95 (the volume receiving 95% of the prescription dose) metrics were calculated for all paired contours. Results: The mean DSCs were 0.82 ± 0.09, 0.97 ± 0.01, and 0.98 ± 0.02, respectively, for CTV_LN_Old vs. CTV_LN_GL_RO1, and between the inter- and intraobserver contours following the guidelines. Correspondingly, the mean CTV_LN-V95 dose differences were 4.8 ± 4.7%, 0.03 ± 0.5%, and 0.1 ± 0.1%. Conclusions: The guidelines reduced the CTV_LN contour variability. The high target coverage agreement revealed that historical CTV-to-planning-target-volume margins were safe, even if a relatively low DSC was observed

Impact of the Extremities Positioning on the Set-Up Reproducibility for the Total Marrow Irradiation Treatment

Total marrow (lymph node) irradiation (TMI/TMLI) delivery requires more time than standard radiotherapy treatments. The patient's extremities, through the joints, can experience large movements. The reproducibility of TMI/TMLI patients' extremities was evaluated to find the best positioning and reduce unwanted movements. Eighty TMI/TMLI patients were selected (2013-2022). During treatment, a cone-beam computed tomography (CBCT) was performed for each isocenter to reposition the patient. CBCT-CT pairs were evaluated considering: (i) online vector shift (OVS) that matched the two series; (ii) residual vector shift (RVS) to reposition the patient's extremities; (iii) qualitative agreement (range 1-5). Patients were subdivided into (i) arms either leaning on the frame or above the body; (ii) with or without a personal cushion for foot positioning. The Mann-Whitney test was considered (p < 0.05 significant). Six-hundred-twenty-nine CBCTs were analyzed. The median OVS was 4.0 mm, with only 1.6% of cases ranked < 3, and 24% of RVS > 10 mm. Arms leaning on the frame had significantly smaller RVS than above the body (median: 8.0 mm/6.0 mm, p < 0.05). Using a personal cushion for the feet significantly improved the RVS than without cushions (median: 8.5 mm/1.8 mm, p < 0.01). The role and experience of the radiotherapy team are fundamental to optimizing the TMI/TMLI patient setup