1. 1 Intelligent off-road vehicles www.umu.se\proj\ifor Intelligent off-road vehicles www.umu.se\proj\ifor www.umu.se\proj\ifor

2. 2 A initiavive for R&D for intelligent off-road technology A initiavive for R&D for intelligent off-road technology Initiated by the industry in 2001 Initiated by the industry in 2001 Collaboration between academia and industry Collaboration between academia and industry What is IFOR ? Academia: Umeå University Swedish University of Agricultural Sciences Skogforsk Industry: Komatsu Forest Holmen Skog Sveaskog BAE Systems Hägglunds LKAB + network of other research centers and companies

3. 3 Topics Motion planning, motion control for mechanical systems Feedback design for hydraulically actuated cranes Learning algorithms for robot behaviours Field robotics - path tracking and localization techniques, sensor vision Human-machine-interaction Equipment and techniques Forest machines Full sized in-door hydraulic crane Portable prototyping hardware for feedback control Sensors (dgps, laser radar, hydraulic pressure, stereo camera,…) Funding > 20 MSEK since 2001 Kempe Foundation, Sveaskog, Vinnova, Komatsu Forest, Sparbanksstiftelsen Norrland,… 1 prof, 4 PhD, 4 phD-students + collaborators at industry and univ Intelligent Off-Road Vehicles Short term: optimal interaction between operator-machine-environment Long term: unmanned off-road vehicles

4. 4 Projects Smart Crane Control - - crane tip control - - optimized motions – speed and stability - - semi-automation, e.g. automatich loading - - VR-enabled remote operation Autonomous navigation - - unmanned transportation of logs - - machine learning and sensor fusion - - first prototype demonstrated in Dec 2005 Other project activities - - Simulation of off-road vehicles - - Recognizing logs in digital images - - Sensor technology for mining industry

5. 5 Movies - Autonomous navigation www.cs.umu.se/research/ifor/IFORnav/videos.htm

6. 6 Movies - crane control Mouse-click control over the internet Mouse-click control over the internet Over obstacle Over obstacle Fast and stable Fast and stable