Tomasz Piotr Kucner
Welcome!
I am a Postdoctoral researcher at MR&O Lab of AASS since December 2018. Before that, I completed a PhD thesis in Computer Science, also at MR&O Lab of AASS.
Research Interests
My main research interests are Autonomous Mobile Robots, in particular:
- Introspection
- Map quality assessment
- Dynamic mapping (People flow mapping, Wind mapping)
- 3D Perception
- Mapping and Localization
Brief CV
I was born in 1988. I have spent my childhood in Lubin (Dolny Śląsk, Poland). After finishing the local high school, I have moved to Wroclaw where I studied at the Wroclaw University of Technology. I have received there a B.Sc. in Computer Management Systems in Manufacturing (2011) and M.Sc. in Robotics (2012). During my studies, I was a member of the Student Scientific Association of Robotics KoNaR. I have also taken part in the Erasmus Programme. It gave me an opportunity to spent a year (from September 2011 to June 2012) in Denmark where I was studying at the Syddansk Universitet. Since September 2012 I am a member of the Centre of Applied Autonomous Sensor Systems (AASS) at Örebro University.
Research Projects
- ALLO – Autonomous Long-Term Load-Haul-Dump Operations (2012-2015)
- SPENCER – Social situation-aware perception and action for cognitive robots (2013-2016)
- ILIAD – Intra-Logistics with Integrated Automatic Deployment: safe and scalable fleets in shared spaces (2017-2021)
- AIR – Action and Intention Recognition in Human Interaction with Autonomous Systems (2015-2019)
Teaching
Teacher assistant:
- Programmering grundkurs (November 2014 – January 2015, November 2015 – January 2016)
- Probabilistic Robotics (February 2015 – May 2015, February 2016 – May 2016)
- Imperative Programmering (November 2016 – January 2017, November 2017 – January 2018)
Teaching
- Probabilistic Robotics (January 2019 – March 2019)
Supervised master students:
-
WeiWei Feng (2017) – Combining metrics for quantifying the quality of localization (with Martin Magnusson).
Supervised PhD students:
- Chittaranjan Srinivas Swaminathan (2017-Present) – Site-specific motion planning for mobile robots (with Martin Magnusson).
Community involvement
Reviewer
IROS, ICRA, ECMR, RA-L, IJARS, T-RO
Organised Workshops
Introspective Methods for Reliable Autonomy (IROS 2017)
Other Involvement
Vice-chair of WG: IEEE P2751 (Robot 3D Map Data Representation)
Media
Video
SPENCER
IROS 2017 Workshop: Introspective Methods for Reliable Autonomy
Me on the web
Causes I support
Contact
Dr. Tomasz Kucner
AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden
Room T1105
Phone +46 (0)19 30 14 82
tomasz.kucner@oru.se
Publications
Journal Articles
| [1] | THÖR-MAGNI : A large-scale indoor motion capture recording of human movement and robot interaction. The international journal of robotics research 2024 [ BibTeX | DiVA ] |
| [2] | Trajectory Prediction for Heterogeneous Agents : A Performance Analysis on Small and Imbalanced Datasets. IEEE Robotics and Automation Letters, 9(7):6576-6583, 2024 [ BibTeX | DiVA ] |
| [3] | Survey of maps of dynamics for mobile robots. The international journal of robotics research, 42(11):977-1006, 2023 [ BibTeX | DiVA ] |
| [4] | The ILIAD Safety Stack : Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots. IEEE robotics & automation magazine 2023 [ BibTeX | DiVA ] |
| [5] | Benchmarking the utility of maps of dynamics for human-aware motion planning. Frontiers in Robotics and AI, 9, 2022 [ BibTeX | DiVA | PDF ] |
| [6] | Robust Structure Identification and Room Segmentation of Cluttered Indoor Environments From Occupancy Grid Maps. IEEE Robotics and Automation Letters, 7(3):7974-7981, 2022 [ BibTeX | DiVA ] |
| [7] | THÖR : Human-Robot Navigation Data Collection and Accurate Motion Trajectories Dataset. IEEE Robotics and Automation Letters, 5(2):676-682, 2020 [ BibTeX | DiVA ] |
| [8] | Multi-Domain Airflow Modeling and Ventilation Characterization Using Mobile Robots, Stationary Sensors and Machine Learning. Sensors, 19(5), 2019 [ BibTeX | DiVA | PDF ] |
| [9] | A Dual PHD Filter for Effective Occupancy Filtering in a Highly Dynamic Environment. IEEE transactions on intelligent transportation systems (Print), 19(9):2977-2993, 2018 [ BibTeX | DiVA ] |
| [10] | Learning to detect misaligned point clouds. Journal of Field Robotics, 35(5):662-677, 2018 [ BibTeX | DiVA ] |
| [11] | Enabling Flow Awareness for Mobile Robots in Partially Observable Environments. IEEE Robotics and Automation Letters, 2(2):1093-1100, 2017 [ BibTeX | DiVA | PDF ] |
| [12] | Probabilistic Air Flow Modelling Using Turbulent and Laminar Characteristics for Ground and Aerial Robots. IEEE Robotics and Automation Letters, 2(2):1117-1123, 2017 [ BibTeX | DiVA ] |
Book Chapters
| [1] | Closing Remarks. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 143-151, 2020 [ BibTeX | DiVA ] |
| [2] | Introduction. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 1-13, 2020 [ BibTeX | DiVA ] |
| [3] | Maps of Dynamics. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 15-32, 2020 [ BibTeX | DiVA ] |
| [4] | Modelling Motion Patterns with Circular-Linear Flow Field Maps. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 65-113, 2020 [ BibTeX | DiVA ] |
| [5] | Modelling Motion Patterns with Conditional Transition Map. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 33-64, 2020 [ BibTeX | DiVA ] |
| [6] | Motion Planning Using MoDs. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages 115-141, 2020 [ BibTeX | DiVA ] |
| [7] | Preface. In Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, pages vii-x, 2020 [ BibTeX | DiVA ] |
Refereed Conference and Workshop Articles
| [1] | CLiFF-LHMP : Using Spatial Dynamics Patterns for Long-Term Human Motion Prediction. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 01-05 October 2023, Detroit, MI, USA, pages 3795-3802, 2023 [ BibTeX | DiVA | PDF ] |
| [2] | THÖR-Magni : Comparative Analysis of Deep Learning Models for Role-Conditioned Human Motion Prediction. In 2023 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW), pages 2192-2201, 2023 [ BibTeX | DiVA ] |
| [3] | The Magni Human Motion Dataset : Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized. 2022 [ BibTeX | DiVA | PDF ] |
| [4] | Robust Frequency-Based Structure Extraction. In 2021 IEEE International Conference on Robotics and Automation (ICRA), pages 1715-1721, 2021 [ BibTeX | DiVA | PDF ] |
| [5] | Benchmarking Human Motion Prediction Methods. 2020 [ BibTeX | DiVA | PDF ] |
| [6] | Exploring the Possibility of Semantic Map Data Representation as an Extension of the IEEE 2D and 3D Map Data Representation Standards. In 2020 20th International Conference on Control, Automation and Systmes (ICCAS 2020) 2020 [ BibTeX | DiVA ] |
| [7] | Natural Criteria for Comparison of Pedestrian Flow Forecasting Models. In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 11197-11204, 2020 [ BibTeX | DiVA ] |
| [8] | Quantitative Metrics for Execution-Based Evaluation of Human-Aware Global Motion Planning. In HRI 2020 Workshop on Test Methods and Metrics for Effective HRI in Real World Human-Robot Teams 2020 [ BibTeX | DiVA ] |
| [9] | Time-varying Pedestrian Flow Models for Service Robots. In 2019 European Conference on Mobile Robots (ECMR) 2019 [ BibTeX | DiVA | PDF ] |
| [10] | 2D Spatial Keystone Transform for Sub-Pixel Motion Extraction from Noisy Occupancy Grid Map. In Proceedings of 21st International Conference on Information Fusion (FUSION), pages 2400-2406, 2018 [ BibTeX | DiVA | PDF ] |
| [11] | Down the CLiFF : Flow-Aware Trajectory Planning under Motion Pattern Uncertainty. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7403-7409, 2018 [ BibTeX | DiVA | PDF ] |
| [12] | Kinodynamic Motion Planning on Gaussian Mixture Fields. In IEEE International Conference on Robotics and Automation (ICRA 2017), pages 6176-6181, 2017 [ BibTeX | DiVA | PDF ] |
| [13] | Semi-Supervised 3D Place Categorisation by Descriptor Clustering. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 620-625, 2017 [ BibTeX | DiVA | PDF ] |
| [14] | SPENCER : A Socially Aware Service Robot for Passenger Guidance and Help in Busy Airports. In Field and Service Robotics : Results of the 10th International Conference, pages 607-622, 2016 [ BibTeX | DiVA ] |
| [15] | Tell me about dynamics! : Mapping velocity fields from sparse samples with Semi-Wrapped Gaussian Mixture Models. In Robotics : Science and Systems Conference (RSS 2016) 2016 [ BibTeX | DiVA | PDF ] |
| [16] | Towards occupational health improvement in foundries through dense dust and pollution monitoring using a complementary approach with mobile and stationary sensing nodes. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 131-136, 2016 [ BibTeX | DiVA ] |
| [17] | Quantitative Evaluation of Coarse-To-Fine Loading Strategies for Material Rehandling. In Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), pages 450-455, 2015 [ BibTeX | DiVA ] |
| [18] | Where am I? : An NDT-based prior for MCL. In 2015 European Conference on Mobile Robots (ECMR) 2015 [ BibTeX | DiVA ] |
| [19] | Conditional transition maps: learning motion patterns in dynamic environments. In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1196-1201, 2013 [ BibTeX | DiVA | PDF ] |
Theses
| [1] | Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots. Örebro University, School of Science and Technology, Ph.D. Thesis, 2018 [ BibTeX | DiVA | PDF ] |
Find the complete BibTeX record here.