Dissemination March /03/10 1 The research leading to these results has received funding from the European Community's Framework Program (FP7/ ) under grant agreement n°

MOW-BY-SAT dissemination  Project objectives  Presentation of consortium  Essential ◦ Economical feasibility ◦ Technical feasibility ◦ Application development and demos  Results exploitation Content 02/03/10 2

MOW-BY-SAT dissemination  Prove that satellite navigation can be used as “primary mean” of service robots guidance  Illustrate by a technical example: ◦ autonomous mowers  Analyse business models for that market  Answer to the question: How to take benefits of the European NAVSAT: EGNOS and Galileo Project objectives 02/03/10 3

MOW-BY-SAT dissemination Project Consortium 02/03/10 4 MOW-BY-SAT  GNSS in robotics The research leading to these results has received funding from the European Community's Framework Program (FP7/ ) under grant agreement n°

MOW-BY-SAT dissemination  Intersection of 2 markets ◦ Emerging market:  Essential benefit in flexibility w.r.t. wired boundary of field ◦ New marketing mix ◦ Imposes  a very accurate positioning function  A low cost positioning function Economical feasibility 02/03/10 5 Service robot market GNSS application market GNSS machine control Robot guidance market

MOW-BY-SAT dissemination  « Required Navigation Performance » for robotic guidance ◦ Accuracy/repeatability:  sub-inch in relative coordinates ◦ Integrity  A few decimeters of protection level with integrity risk of 10-5 /hour (typically) ◦ Availability and continuity of service according environment and type of robot mission  Performance simulator ◦ Analysis of performance augmentation thanks to EGNOS/EDAS and Galileo (from GIOVE A & B up to FOC)  Satellite constellation to be used;  Masking and attenuation environment. ◦ Behavior and performance assessment:  test of GNSS systems and navigation /control algorithms Technical feasibility 02/03/10 6

MOW-BY-SAT dissemination  Development of the simulator Technical feasibility 02/03/10 7 Navigation Block Simulator (NBSim) UDP Position Resolution Block UDP Robot Dynamical Simulator (RDSim) UDP U-CAT GNSS Constellation Simulator UDP NonT Constellation ephemeris/al manacs NonT U-CAT Control Signals Robot Real Position/Speed Satellites Attenuation Frame: A S1 A S2 … A S24 Raw Measurements Robot Estimated Position/Speed Satellite Based Localization Simulator (SBLSim)

MOW-BY-SAT dissemination Technical feasibility 02/03/10 8

MOW-BY-SAT dissemination Application development and trials 02/03/10 9 Flexible Boundary Forbidden area Work area For robot A & B Work area For robot A Work area For robot B Moving area For robot A&B Moving area For robot B only Radio+GNSS+ charging station charging station Radio station Before MOW-BY-SAT (without NAVSAT): An excellent mower robot from Belrobotics But no flexibility (wired boundaries) With MOW-BY-SAT (NAVSAT): An excellent mower robot Working in modifiable virtual boundaries Able to cross boundaries without mowing Able to work in a group ….

MOW-BY-SAT dissemination Application development and trials How it works? 02/03/10 10 With the MOW-BY-SAT technology: Red track → Robot guidance becomes possible

MOW-BY-SAT dissemination Before : Wired boundaries 02/03/10 11 Recharging station linked to lawn boundaries Mower shall always be inside the lawn Random pattern No flexibility Application development and trials How it works?

MOW-BY-SAT dissemination 02/03/10 12 With NAVSAT technologies Recharging station is not necessary linked to the fields Mower is always precisely located large flexibility to change the fields Random pattern=geo fence Optimized pattern= geo line geo fence mode/geo line mode Application development and trials How it works?

MOW-BY-SAT dissemination 02/03/10 13 First demo organized in October 09 in “Stadium of Toulouse” with : Selection of field Geo fence Geo line Application development and trials Credit ESN A. El Amin

MOW-BY-SAT dissemination Results exploitation 02/03/10 14  End of project in July 2010 ◦ A second demonstration of the BIGMOW equipped with a GNSS guidance system is planed in April on a golf of the neighbors of Brussels (“Golf 7 fontaines”)  Potential of Exploitation: ◦ Commercialization agreement between Belrobotics and NAV ON TIME ◦ potential customers: expression of interest from “Golf de TEOULA”, and “Nouveaux Golfs de France” ◦ Extension to other machine control issues ◦ Expectation of use of Galileo signals as soon as possible (according availability of receivers)

MOW-BY-SAT dissemination MOW-BY-SAT 02/03/10 15  Questions?