Toward the deployment of an autonomous last-mile delivery robot in urban areas: the ona prototype platform

Nowadays, the skyrocketing last-mile freight transportation in urban areas is leading to very negative effects (e.g., pollution, noise or traffic congestion), which could be minimized by using autonomous electric vehicles. In this sense, this paper presents the first prototype of Ona, an autonomous...

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Detalles Bibliográficos
Autores: Santamaria Navarro, Àngel|||0000-0002-6328-1423, Hernández Juan, Sergi, Herrero Cotarelo, Fernando|||0000-0003-4116-0265, López Mellado, Alejandro, Pino Bastida, Iván del|||0000-0003-0516-7443, Rodriguez Linares, Nicolás, Fernández, Carlos, Baldó Oliva, Albert, Lemardelé, Clément|||0000-0003-1673-6509, Garrell Zulueta, Anais|||0000-0002-4629-0723, Vallvé, Joan, Taher, Hafsa, Puig-Pey Clavería, Ana María|||0000-0002-6073-7448, Pagès, Laia, Sanfeliu Cortés, Alberto|||0000-0003-3868-9678
Tipo de recurso: artículo
Fecha de publicación:2025
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/423330
Acceso en línea:https://hdl.handle.net/2117/423330
https://dx.doi.org/10.1109/MRA.2024.3487321
Access Level:acceso abierto
Palabra clave:Robots
Navigation
Pedestrians
Laser radar
Robot vision systems
Human-robot interaction
Cameras
Sensors
Logistics
Urban areas
Àrees temàtiques de la UPC::Informàtica::Robòtica
Descripción
Sumario:Nowadays, the skyrocketing last-mile freight transportation in urban areas is leading to very negative effects (e.g., pollution, noise or traffic congestion), which could be minimized by using autonomous electric vehicles. In this sense, this paper presents the first prototype of Ona, an autonomous last-mile delivery robot that, in contrast to existing platforms, has a medium-sized storage capacity with the capability of navigating in both street and pedestrian areas. Here, we describe the platform and position it with respect to other existing prototypes, providing its main Software modules and the first validation experiments, carried out in the Barcelona Robot Lab (Universitat Politècnica de Catalunya); Esplugues de Llobregat (next to Barcelona); and Debrecen (Hungary), which are representative urban scenarios. In such validations, we focus our analysis on the key localization module, whose errors could cascade down the rest of the navigation pipeline (e.g., planning or control). Aside from robotic technical details, we also include the results of the technology acceptance by the public present in the Esplugues de Llobregat test, collected in situ through a survey.

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