Title:????

Cumulative doctoral thesis, 3 papers.

1. Mapping
   1. Create map for Adana, Potsdam, somewhere in Hohenheim. Preferably in different types of orchards, citrus, plum, apple, grapes.
   2. SLAM
      1. Algorithm for autonomous data collection for mapping algorithm. This is not enough for a paper.
2. Development tools

Connection between papers:
??

Reasearch

Continue with the tree mapping work started in 3D-Mosaic.

End goal is to be able to generate a map for MobotWare over an orchard.

Ideas for the journal paper is ready

• Continue with the ideas that are already there. They will not be public at the moment.

Program on a server or in a cloud that can tell the robot which data it needs. And thereby change the current mission for the robot.

Maybe this is already in AU servers

Create a standard for describing mission for robots.

Design an iso standart for it. It can be based on part 10 of ISOBUS and/or AgroXML

• Should i be xml?
• Should it be a script language?

SAFAR is a GUI created for MRDS, it can be used for simulation and controlling robots. With SAFAR it is possible to define a mission for a robot. This functionallity would be very nice to have for MobotWare.

The Goal is to create a mission planning GUI like SAFAR, that includes data from SenGIS db and track optimization from Dionysis Bopkis.

Consider if the GUI should have GIS capabilities.

Another solution could be to make a plugin for SAFAR that allows export of missionfiles to MobotWare

• XDDP
  • Spec
  • feature matrix
• XDDP4SPL
• SPL
• Ticket/project management
  • Traq
  • Trac
• SVN
• doxygen
• dokuwiki/mediawiki

website the can integrate the spec that tsuneo is talking about, along with doxygen, wiki and management like git or Trac

Tsuneo is also working on a tool.

• dynamic distance change during driving
• difference in tick between backwards and forwards driving
• define kinematic model that somehow includes slip. → maybe based on slip observer from france.
• model hysterese in the belt to optimise position estimation

Use the knowlegde to create a platfor for mobile robots.

It can be the foundation for a company in Denmark afterwards

Create a manual so alot of people can use MobotWare, and also create plugins for it.

Keep the sourcecode closed but open the API for plugins.