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Tech_United_At_Home_TDP_2017.tex
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%%%%%%%%%%%%%%%%%%%%%%% file typeinst.tex %%%%%%%%%%%%%%%%%%%%%%%%%
%
% This is the LaTeX source for the TDPTemplate using
% the LaTeX document class 'llncs.cls' Springer LNAI format
% used in the RoboCup Symposium submissions.
% http://www.springer.com/computer/lncs?SGWID=0-164-6-793341-0
%
% It may be used as a template for your own TDP - copy it
% to a new file with a new name and use it as the basis
% for your Team Description Paper
%
% NB: the document class 'llncs' has its own and detailed documentation, see
% ftp://ftp.springer.de/data/pubftp/pub/tex/latex/llncs/latex2e/llncsdoc.pdf
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\documentclass[runningheads,a4paper]{llncs}
% document input
\usepackage[utf8]{inputenc} % input encoding
\usepackage[english]{babel} % input language for hyphens
% fonts
\usepackage[T1]{fontenc} % more glyphs and a
\usepackage{lmodern} % better looking font
% page geometry
%\usepackage{a4wide}
%\usepackage{a4}
%\usepackage[left=48mm,right=46mm]{geometry}
\usepackage[left=32mm,right=31mm]{geometry}
\usepackage{amssymb}
\usepackage{amsmath}
\setcounter{tocdepth}{3}
\usepackage{hyperref}
\usepackage{graphicx}
\usepackage{caption}
\usepackage{subcaption}
\captionsetup{compatibility=false}
\usepackage{float}
\usepackage{url}
\usepackage{listings}
\usepackage{enumitem}
\usepackage{textcomp}
% *** MORE GRAHPICS ***
\usepackage[usenames,dvipsnames]{color}
% *** BIBLIOGRAPHY PACKAGES ***
%\usepackage{natbib}
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\usepackage{booktabs} % For tables (toprule, midrule, bottomrule)
\usepackage{todonotes} % should be defined after the color package
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% *** PATHS ***
\makeatletter
\def\input@path{{Figures/}
}
\makeatother
\graphicspath{ {Figures/}
}
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Acronym definitions
\usepackage[acronym]{glossaries}
\newacronym{ed}{ED}{Environment Descriptor}
\newacronym{amcl}{AMCL}{Adaptive Monte Carlo Localization}
\newacronym{gui}{GUI}{Graphical User Interface}
%\newacronym{spl}{SPL}{Standard Platform League}
\newacronym{fcfg}{FCFG}{feature context free grammar}
\newacronym{ros}{ROS}{Robot Operating System}
\newacronym{wire}{WIRE}{World Information for Robotic Environments}
\newacronym{cnn}{CNN}{Convolution Neural Networks}
% shorthand definitions
\newcommand{\eg}{\emph{e.g.}} % Exemplum gratia
\newcommand{\goal}{\mathcal{G}} % Goal area
\newcommand{\goallc}{\mathcal{G}_{\mathrm{lc}}} % Subset of goal area with costs below threshold cmin
\newcommand{\goalhc}{\mathcal{G}_{\mathrm{hc}}} % Subset of goal area with costs above threshold cmin
\newcommand{\ie}{\emph{i.e.}} % Id est
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\begin{document}
\title{Tech United Eindhoven @Home \\2017 Team Description Paper}
\author{M.F.B.~van~der~Burgh, J.J.M.~Lunenburg, R.P.W.~Appeldoorn, R.W.J.~Wijnands, T.T.G.~Clephas, M.J.J.~Baeten, L.L.A.M.~van~Beek, R.A.~Ottervanger, H.W.A.M.~van~Rooy and M.J.G.~van~de~Molengraft}
\institute{Eindhoven University of Technology,
\newline Den Dolech 2, P.O. Box 513, 5600 MB Eindhoven, The Netherlands\\
\texttt{http://www.techunited.nl, techunited@tue.nl, https://github.com/tue-robotics}}
\authorrunning{Tech United Eindhoven}
%\author{Team Leader \and Team Members }
%\institute{[Intitute name and direction here], \\
%\texttt{http://devoted-web-site.url}}
\maketitle
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\begin{abstract}
This paper provides an overview of the main developments of the Tech United Eindhoven RoboCup@Home team. Tech United uses an advanced world modeling representation system called the Environment Descriptor that allows straight forward implementation of localization, navigation, exploration, object detection \& recognition, object manipulation and robot-robot cooperation skills. Recently developments are improved object detection via deep learning methods, a generic GUI for different user levels, improved speech recognition and improved natural language interpretation.
\end{abstract}
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\section{Introduction}
\input{introduction.tex}
\section{\acrfull{ed}}
\input{ed.tex}
\subsection{Localization, Navigation and Exploration}
\input{navigation_exploration.tex}
\subsection{Object detection}
\input{object_detection.tex}
\subsection{Object grasping, moving and placing}
\input{object_grasping_moving.tex}
\section{Image Recognition}
\input{object_recognition.tex}
%\subsection{Reasoning}
%\input{reasoning.tex}
%\newpage
\section{Human-Robot Interface}
\input{webgui.tex}
\section{Robot Descriptions}
\subsection{Robot Hardware Descriptions}
\input{hardware.tex}
\subsection{Robot Software Description}
\input{software.tex}
\subsection{Re-usability of the system for other research groups}
\input{reusability.tex}
\subsection{Community Outreach and Media}
\input{community_outreach_media.tex}
\bibliographystyle{unsrt}
\bibliography{refs}
\end{document}