54 citations · 168 across the 10 of their papers we have counts for
10 papers
Hough2Map -- Iterative Event-based Hough Transform for High-Speed Railway Mapping
Florian Tschopp, Cornelius von Einem, Andrei Cramariuc +5
To cope with the growing demand for transportation on the railway system, accurate, robust, and high-frequency positioning is required to enable a safe and efficient utilization of…
The Autonomous Siemens Tram
Andrew W. Palmer, Albi Sema, Wolfram Martens +2
This paper presents the Autonomous Siemens Tram that was publicly demonstrated in Potsdam, Germany during the InnoTrans 2018 exhibition. The system was built on a Siemens Combino t…
Experimental Comparison of Visual-Aided Odometry Methods for Rail Vehicles
Florian Tschopp, Thomas Schneider, Andrew W. Palmer +4
Today, rail vehicle localization is based on infrastructure-side Balises (beacons) together with on-board odometry to determine whether a rail segment is occupied. Such a coarse lo…
Robust Odometry using Sensor Consensus Analysis
Andrew W. Palmer, Navid Nourani-Vatani
Odometry forms an important component of many manned and autonomous systems. In the rail industry in particular, having precise and robust odometry is crucial for the correct opera…
Weekly maintenance scheduling using exact and genetic methods
Andrew W. Palmer, Robin Vujanic, Andrew J. Hill +1
The weekly maintenance schedule specifies when maintenance activities should be performed on the equipment, taking into account the availability of workers and maintenance bays, an…
Modelling resource contention in multi-robot task allocation problems with uncertain timing
Andrew W. Palmer, Andrew J. Hill, Steven J. Scheding
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several appro…
Applying Gaussian distributed constraints to Gaussian distributed variables
Andrew W. Palmer, Andrew J. Hill, Steven J. Scheding
This paper develops an analytical method of truncating inequality constrained Gaussian distributed variables where the constraints are themselves described by Gaussian distribution…
Stochastic Collection and Replenishment (SCAR) Optimisation for Persistent Autonomy
Andrew W. Palmer, Andrew J. Hill, Steven J. Scheding
Robots have a finite supply of resources such as fuel, battery charge, and storage space. The aim of the Stochastic Collection and Replenishment (SCAR) scenario is to use dedicated…
Stochastic Collection and Replenishment (SCAR): Objective Functions
Andrew W. Palmer, Andrew J. Hill, Steven J. Scheding
This paper introduces two objective functions for computing the expected cost in the Stochastic Collection and Replenishment (SCAR) scenario. In the SCAR scenario, multiple user ag…
Methods for Stochastic Collection and Replenishment (SCAR) optimisation for persistent autonomy
Andrew W. Palmer, Andrew J. Hill, Steven J. Scheding
Consideration of resources such as fuel, battery charge, and storage space, is a crucial requirement for the successful persistent operation of autonomous systems. The Stochastic C…