Tag Archives: l-cas

Lincoln computer science research papers accepted

Lincoln Centre for Autonomous Systems (L-CAS) submitted research papers to SAC 2017 and HRI 2017, and have been accepted.

The first paper to be presented at SAC 2017 is joint work with Dr Marc Hanheide‘s PhD student Peter Lightbody and Dr Tomas Krajnik on “A Versatile High-Performance Visual Fiducial Marker Detection System with Scalable Identity Encoding”.

Fiducial markers have a wide field of applications in robotics, ranging from external localisation of single robots or robotic swarms, over self-localisation in marker-augmented environments, to simplifying perception by tagging objects in a robot’s surrounding.

We propose a new family of circular markers allowing for a computationally efficient detection, identification and full 3D position estimation. A key concept of our system is the separation of the detection and identification steps, where the first step is based on a computationally efficient circular marker detection, and the identification step is based on an open-ended `necklace code’, which allows for a theoretically infinite number of individually identifiable markers.

The experimental evaluation of the system on a real robot indicates that while the proposed algorithm achieves similar accuracy to other state-of-the-art methods, it is faster by two orders of magnitude and it can detect markers from longer distances.

The second paper that has been accepted at HRI 2017, which has an acceptance rate of only 24%, is co-authored by Marc Hanheide, Denise Hebesberger, and Tomas Krajnik:
“The When, Where, and How: An Adaptive Robotic Info-Terminal for Care Home Residents – a long-term study”

Adapting to users’ intentions is a key requirement for autonomous robots in general, and in-care settings in particular. In this paper, a comprehensive long-term study of a mobile robot providing information services to residents, visitors, and staff of a care home is presented with a focus on adapting to the when and where the robot should be offering its services to best accommodate the users’ needs.

Rather than providing a fixed schedule, the presented system takes the opportunity of long-term deployment to explore the space of possibilities of interaction while concurrently exploiting the model learned to provide better services. But in order to provide effective services to users in a care home, not only the when and where are relevant, but also the way the information is provided and accessed. Hence, also the usability of the deployed system is studied specifically, in order to provide a most comprehensive overall assessment of a robotic info-terminal implementation in a care setting.

Our results back our hypotheses, (i) that learning a spatiotemporal model of users’ intentions improves efficiency and usefulness of the system, and (ii) that the specific information sought after is indeed dependent on the location the info-terminal is offered.

This is a great achievement for our PhD students and researchers, and you can keep up to date with our L-CAS research here: https://lcas.lincoln.ac.uk/wp/ 


SoCS Research Seminar Series on 27/11/2015: Prof Nick Taylor (HWU)


The School of Computer Science is pleased to welcome Prof Nick Taylor (from Heriot-Watt University) for a research talk as part of the School’s research seminar series. Prof Taylor will be presenting current research from “The Edinburgh Centre for Robotics”.



Fri 27/11/2015, 10am


David Chiddick Building, Room BL1105 (1st Floor)


The Edinburgh Centre for Robotics harnesses the potential of 30 world leading investigators from 12 cross-disciplinary research groups and institutes across the Schools of Engineering & Physical Sciences and Mathematical & Computer Sciences at Heriot-Watt University and the Schools of Informatics and Engineering at the University of Edinburgh. Our research focuses on the interactions amongst robots, people, environments and autonomous systems, designed and integrated for different applications, scales and modalities. We aim to apply fundamental theoretical methods to real-world problems on real robots solving pressing commercial and societal needs. The Centre offers a 4 year PhD programme through the EPSRC Centre for Doctoral Training in Robotics and Autonomous Systems and hosts the Robotarium national UK robotics facility.


Nick Taylor is a Professor of Computer Science at Heriot-Watt University and a Deputy Director of the Edinburgh Centre for Robotics. He was Head of Computer Science from 2008-2014 and leads the Pervasive, Ubiquitous and Mobile Applications (PUMA) Lab which he formed in 2010. He has been involved in robotics and machine learning research for over three decades, most recently with a particular interest in the personalisation of autonomous systems for pervasive environments. Nick took his A-levels at Lincoln Christ’s Hospital School and then studied at Cardiff, London and Nottingham before joining Heriot-Watt University and settling in Midlothian.

Presentations of the new FP7 project “STRANDS” at ERF and ICRA

Tom Duckett and Marc Hanheide of the Lincoln Centre for Autonomous Systems will be presenting the general aims and objectives of the new FP7 project “STRANDS: Spatio-Temporal Representations and Activities For Cognitive Control in Long-Term Scenarios” – and L-CAS’ role in its research work plan in particular – at ICRA 2013 and ERF 13 conferences, respectively. The project’s aim is

“… to enable a robot to achieve robust and intelligent behaviour in human environments through adaptation to, and the exploitation of, long-term experience.”

Our approach is based on understanding 3D space and how it changes over time, from milliseconds to months. Within L-CAS two post-doctoral research fellows and one PhD student will work towards this aim in the coming four years starting in April.