Institute of Computer Science — Knowledge-Based Systems Research Group
	Project LiSA

The LiSA project was funded by BMBF (Bundesministerium für Bildung und Forschung). Project duration was 1.4.2006 - 31.7.2009. The goal was to develop an autonomous mobile robot as a system assisting in a life-science research lab environment. It was a cooperative project between the partners:

[Link to the joint project page of LiSA (in German)]

Within the project consortium, University of Osnabrück was responsible mainly for the following topics:

• Robot specification
  One topic is the conception of the system architecture and specification of the whole system.
  
• Mapping of the environment
  We use the Kurt3D robot to get a 3D map of the LiSA robot's environment. Out of this map we slice a 2D map for robot navigation.
• Robot navigation
  The second topic we are dealing with is the robot'snavigation. This topic can be subdivided into the following three parts:
  • Self localization
    The most fundamental precondition for a autonomous mobile robot is its knowledge about its current position. We realize this task using experiences and algorithms obtained in the Kurt3D project.
  • Path planning
    Since the LiSA robot has multiple workstations, it must be able to drive from one workstation to another. We plan to realize this by testing several path planning algorithms, yielding a path that avoids collision with the static environment.
  • Obstacle avoidance
    Due to the fact that a life science labor is a dynamic environment, the LiSA robot must be able to avoid collision with dynamical objects (human, chair, drawer,...). Hence the path given by the path planner must be dynamically modified.

Financial support for this research and development project LiSA is provided by the German Federal Ministry for Education and Research (BMBF) as part of the framework program "Forschung für die Produktion von Morgen" (Research for tomorrow's production; grants no. 02PB2170- 02PB2177). Its administration is handled by the Project Management Agency Forschungszentrum Karlsruhe (PTKAPFT).

Last changed: Jul 2, 2009