-
Faculty of Arts and HumanitiesDean's Office, Faculty of Arts and HumanitiesJakobi 2, r 116-121 51005 Tartu linn, Tartu linn, Tartumaa EST0Institute of History and ArchaeologyJakobi 2 51005 Tartu linn, Tartu linn, Tartumaa EST0Institute of Estonian and General LinguisticsJakobi 2, IV korrus 51005 Tartu linn, Tartu linn, Tartumaa EST0Institute of Philosophy and SemioticsJakobi 2, III korrus, ruumid 302-337 51005 Tartu linn, Tartu linn, Tartumaa EST0Institute of Cultural ResearchÜlikooli 16 51003 Tartu linn, Tartu linn, Tartumaa EST0Institute of Foreign Languages and CulturesLossi 3 51003 Tartu linn, Tartu linn, Tartumaa EST0School of Theology and Religious StudiesÜlikooli 18 50090 Tartu linn, Tartu linn, Tartumaa EST0Viljandi Culture AcademyPosti 1 71004 Viljandi linn, Viljandimaa EST0Professors emeriti, Faculty of Arts and Humanities0Associate Professors emeriti, Faculty of Arts and Humanities0Faculty of Social SciencesDean's Office, Faculty of Social SciencesLossi 36 51003 Tartu linn, Tartu linn, Tartumaa EST0Institute of EducationJakobi 5 51005 Tartu linn, Tartu linn, Tartumaa EST0Johan Skytte Institute of Political StudiesLossi 36, ruum 301 51003 Tartu linn, Tartu linn, Tartumaa EST0School of Economics and Business AdministrationNarva mnt 18 51009 Tartu linn, Tartu linn, Tartumaa EST0Institute of PsychologyNäituse 2 50409 Tartu linn, Tartu linn, Tartumaa EST0School of LawNäituse 20 - 324 50409 Tartu linn, Tartu linn, Tartumaa EST0Institute of Social StudiesLossi 36 51003 Tartu linn, Tartu linn, Tartumaa EST0Narva CollegeRaekoja plats 2 20307 Narva linn, Ida-Virumaa EST0Pärnu CollegeRingi 35 80012 Pärnu linn, Pärnu linn, Pärnumaa EST0Professors emeriti, Faculty of Social Sciences0Associate Professors emeriti, Faculty of Social Sciences0Faculty of MedicineDean's Office, Faculty of MedicineRavila 19 50411 Tartu linn, Tartu linn, Tartumaa ESTInstitute of Biomedicine and Translational MedicineBiomeedikum, Ravila 19 50411 Tartu linn, Tartu linn, Tartumaa ESTInstitute of PharmacyNooruse 1 50411 Tartu linn, Tartu linn, Tartumaa ESTInstitute of DentistryL. Puusepa 1a 50406 Tartu linn, Tartu linn, Tartumaa ESTInstitute of Clinical MedicineL. Puusepa 8 50406 Tartu linn, Tartu linn, Tartumaa ESTInstitute of Family Medicine and Public HealthRavila 19 50411 Tartu linn, Tartu linn, Tartumaa ESTInstitute of Sport Sciences and PhysiotherapyUjula 4 51008 Tartu linn, Tartu linn, Tartumaa ESTProfessors emeriti, Faculty of Medicine0Associate Professors emeriti, Faculty of Medicine0Faculty of Science and TechnologyDean's Office, Faculty of Science and TechnologyVanemuise 46 - 208 51003 Tartu linn, Tartu linn, Tartumaa ESTInstitute of Computer ScienceNarva mnt 18 51009 Tartu linn, Tartu linn, Tartumaa ESTInstitute of GenomicsRiia 23b/2 51010 Tartu linn, Tartu linn, Tartumaa ESTEstonian Marine Institute0Institute of PhysicsInstitute of ChemistryRavila 14a 50411 Tartu linn, Tartu linn, Tartumaa EST0Institute of Mathematics and StatisticsNarva mnt 18 51009 Tartu linn, Tartu linn, Tartumaa EST0Institute of Molecular and Cell BiologyRiia 23, 23b - 134 51010 Tartu linn, Tartu linn, Tartumaa ESTTartu ObservatoryObservatooriumi 1 61602 Tõravere alevik, Nõo vald, Tartumaa EST0Institute of TechnologyNooruse 1 50411 Tartu linn, Tartu linn, Tartumaa ESTInstitute of Ecology and Earth SciencesJ. Liivi tn 2 50409 Tartu linn, Tartu linn, Tartumaa ESTProfessors emeriti, Faculty of Science and Technology0Associate Professors emeriti, Faculty of Science and Technology0Institute of BioengineeringArea of Academic SecretaryHuman Resources OfficeUppsala 6, Lossi 36 51003 Tartu linn, Tartu linn, Tartumaa EST0Area of Head of FinanceFinance Office0Area of Director of AdministrationInformation Technology Office0Administrative OfficeÜlikooli 17 (III korrus) 51005 Tartu linn, Tartu linn, Tartumaa EST0Estates Office0Marketing and Communication OfficeÜlikooli 18, ruumid 102, 104, 209, 210 50090 Tartu linn, Tartu linn, Tartumaa EST0Area of Vice Rector for ResearchUniversity of Tartu LibraryW. Struve 1 50091 Tartu linn, Tartu linn, Tartumaa EST0Grant OfficeArea of Vice Rector for DevelopmentCentre for Entrepreneurship and InnovationNarva mnt 18 51009 Tartu linn, Tartu linn, Tartumaa EST0University of Tartu Natural History Museum and Botanical GardenVanemuise 46 51003 Tartu linn, Tartu linn, Tartumaa EST0International Cooperation and Protocol Office0University of Tartu MuseumLossi 25 51003 Tartu linn, Tartu linn, Tartumaa EST0Area of RectorRector's Strategy OfficeInternal Audit OfficeArea of Vice Rector for Academic AffairsOffice of Academic AffairsUniversity of Tartu Youth AcademyUppsala 10 51003 Tartu linn, Tartu linn, Tartumaa EST0Student Union OfficeÜlikooli 18b 51005 Tartu linn, Tartu linn, Tartumaa EST0Centre for Learning and Teaching
Doctoral defence: Robert Valner “Design of TeMoto, a software framework for dependable, adaptive, and collaborative autonomous robots”
December 4th at at 13:15 Robert Valner will defend his thesis “Design of TeMoto, a Software Framework for Dependable, Adaptive, and Collaborative Autonomous Robots” for obtaining the degree of Doctor of Philosophy (Physical Engineering)
Supervisors:
Associate Professor Karl Kruusamäe, University of Tartu
Professor Alvo Aabloo, University of Tartu
Opponent:
Associate Professor Markus Vincze
Automation and Control Institute
Vienna University of Technology, Austria
Summary: Reducing human involvement in hazardous, stressful, and tedious tasks has been among the main driving reasons for reaching self-sufficient, autonomous robots. However, achieving reliable autonomy in unpredictable and dangerous application domains is a challenge that combines two borderline contradictory aspects - system reliability and complexity. Thus, teleoperated robotic systems are often preferred. Nevertheless, when a wired connection is not an option and a wireless connection is intermittent, semi- or fully autonomous capabilities become paramount.
The goal of this work is to a) analyze the software architecture design principles that lead to the increase of LoA of robots deployed for high-risk and high-complexity tasks; and b) develop a software architecture that implements the concluded design principles. This work contributes by developing an adaptive, scalable, multi-agent, and human-robot collaboration-oriented software architecture, TeMoto, derived from analyzing a variety of high-risk task domains and common design principles for a robotic software stack.
TeMoto is based on a decentralized multi-robot variant of a three-layer architecture, i.e., syndicate
architecture, and enables dynamic task (executive layer) and resource (functional layer) management.
Tasks are outlined in Unified Meaning Representation Format (UMRF), a novel domain-specific language that allows the description of complex hierarchical multi-robot tasks in JSON format. TeMoto Action Engine is a C++ based library that implements the semantics of UMRF. Individual behaviors in a task, i.e., actions, are defined as dynamically loadable modular plugins that can be concurrently executed. The resource management layer provides dynamic control over the lifecycle of resources, such as sensors and actuators. It provides reference counting and hierarchical dependency management, allowing for correct resource allocation, deallocation, and error propagation along the dependency chain. TeMoto is completely open-source, and is designed to work with ROS and ROS2, while the core tools can be used outside ROS.
The work is evaluated via five technical demonstrators, covering the fundamental principles of resource management, task management, and use cases involving human-robot interaction and multi-robot systems. The development of TeMoto is an ongoing process, and this work captures the current state, outlining the core design principles and set of implemented tools.
Defence can be followed in Zoom: https://ut-ee.zoom.us/j/9530588152?pwd=ZzgzMjY4YytzUkZ5aVRCd2pOdVNQQT09 (meeting ID: 953 058 8152, passcode: kaitsmine).