Welcome to the Licentiate Thesis Defense of Philip Wickberg
Licentiate Thesis Title: Towards Multi-Layered Dynamic Off-Road Maps
Time: 2025-03-21 13:15 (CET)
Location: Mälardalen university, Eskilstuna, Room C1-007
Main Supervisors: Markus Bohlin
Co-supervisor: Anas Fattouh
Abstract:
This thesis is about the requirement elicitation and conceptual modelling of a multi-layered dynamic off-road map with an emphasis on advancing toward real-world validation scenarios. Specifically, it addresses the challenges in fleet management for autonomous haulers moving earth material in open-pit mining applications at construction sites. The map used to coordinate these autonomous haulers is critical in ensuring productivity and safety, with terrain friction being a key aspect. However, the current state-of-practice relies on static maps that do not support dynamic updating to reflect changes in terrain properties.To address these limitations, this thesis explores the requirements for a multilayered dynamic map and proposes their integration with the fleet management system using a standardised approach based on a digital twin framework for manufacturing. Although static maps require validation, maps populated with dynamic components necessitate an even more rigorous validation prior to implementation in real-world applications. Therefore, validation scenarios based on best practices are designed to ensure the map’s functionality under various real-world conditions.
List of publications in the Thesis
Paper A: P. Wickberg, A. Fattouh, S. Afshar, J. Sjöberg and M. Bohlin. Dynamic Maps Requirements for Autonomous Navigation in Construction Sites 2022 5th International Conference on Communications, Signal Processing, and their Applications (ICCSPA), Cairo. Egypt, 2022.
Paper B: P. Wickberg, A. Fattouh, S. Afshar and M. Bohlin. Adopting a Digital Twin Framework for Autonomous Machine Operation at Construction Sites 2023 7th CAA International Conference on Vehicular Control and Intelligence (CVCI), Changsha, China, 2023.
Paper C: P. Wickberg, A. Fattouh, S. Afshar and M. Bohlin. Exploring Dynamic Map Validation at Construction Sites: A Case Study and Feasibility Analysis (in press) 2024 27th IEEE International Conference on Intelligent Transportation Systems, Edmonton, Canada.