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Tech_United_At_Home_TDP_2017_DSPL.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. These developments are done on AMIGO and SERGIO and will now also be implemented on the Toyota HSR.
\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_HSR.tex}
\subsection{Robot Software Description}
\input{software_HSR.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}