Project name: Estimation and Control for Safe Wireless High Mobility Cooperative Industrial Systems 
Project acronym: EC-SAFEMOBIL
Dates: 12.07.2011 - 14.01.2016
Total budget:  6,169,404.00 EUR
Funding:  FP7 - ICT
Grant Agreement number: 288082

The project EC-SAFEMOBIL was devoted to the development of sufficiently accurate common motion estimation and control methods and technologies in order to reach levels of reliability and safety to facilitate unmanned vehicle deployment in a broad range of applications. It also included the development of a secure architecture and the middleware to support the implementation.

The focus of the project was on very accurate coupled motion of multiple entities and on distributed safe and reliable cooperation and coordination. The aim was to precisely control hundreds of entities efficiently and reliably, as well as to certify developed techniques to support the exploitation of unmanned platforms in non-restricted areas. This development was validated in multiple scenarios, ranging from landing a fixed-wing UAV on a car through distributed surveillance with multiple UAVs to automated forklifts in industrial warehouses.

Warehousing scenario of EC-SAFEMOBIL project

The focus of the LARICS team in the project was on the automated warehouse scenario, in which we worked on high accuracy marker-less mapping and localization, as well as decentralized control of multiple free-ranging industrial forklifts. In the final demonstrator we showed that our solution is accurate enough for pallet pickup and stacking. We also showed that our finite state machine based decentralized algorithm enables forklifts to negotiate and resolve conflicts, preventing deadlocks in the system.


Pallet stacking experiment showcasing high precision of vehicle localization (vehicle and testing area provided by Euroimpianti SPA)

Two forklifts resolving conflict in the testing area (vehicles and testing area provided by Euroimpianti SPA)

The project was realized in coopearation with the following partners:

  1. Fundacion Andaluza para el desarrollo aeroespacial (FADA-CATEC) (ES)
  2. Deutsches Zentrum fuer Luft und Raumfahrt EV (DLR) (DE)
  3. Airbus DS GMBH (Astrium) (DE)
  4. Indra sistemas S.A. (ES)
  5. Euroimpianti SPA (IT)
  6. Universidad de Sevilla (ES)
  7. Universitaet Duisburg-Essen (DE)
  8. University of Zagreb Faculty of Electrical Engineering and Computing (HR)
  9. Selex ES LTD (UK)

Paper “High-accuracy vehicle localization for autonomous warehousing”, written by Goran Vasiljević, Damjan Miklić, Ivica Draganjac and prof. Zdenko Kovačić will be published in the Robotics and Computer-integrated Manufacturing journal. The paper presents the algorithm stack for high-precision autonomous vehicle localization, developed within FP7 EC-SAFEMOBIL project. The proposed methodology satisfies the industrial requirements for localization accuracy and has been verified by extensive experiments in realistic industrial conditions. Full paper can be accessed via the following link, which will be available until July 3, 2016.

Author: Anamarija Miličević
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