| 11. |
- Broxvall, Mathias, et al.
(författare)
-
Steps toward detecting and recovering from perceptual failures
- 2004
-
Ingår i: Proceedings of the 8th international conference on intelligent autonomous systems. ; , s. 793-800
-
Konferensbidrag (refereegranskat)abstract
- An important requirement for autonomous systems is the ability to detect and recover from exceptional situations such as failures in observations. In this paper we investigate how traditional AI planning techniques can be used to reason about observations and to recover from these situations. In this first step we concentrate on failures in perceptual anchoring. We illustrate our approach by showing experiments run on a mobile robot equipped with a color camera.
|
|
| 12. |
- Gritti, Marco, et al.
(författare)
-
Reactive self-configuration of an ecology of robots
- 2007
-
Konferensbidrag (refereegranskat)abstract
- The field of ubiquitous robotics is burgeoning, and different brands of massively distributed heterogeneous robotic systems are being proposed and applied to several domains. The strong added value of these systems comes from their potential ability to dynamically self-configure, by changing the form of their cooperation to adapt to a given task or situation. In face of this, no satisfactory solution exists to the problem of how such a system should self-configure. In this paper, we explore a reactive approach to self-configuration inspired by ideas from the field of semantic web services. We illustrate our approach on a specific type of ubiquitous robot system, called PEIS-Ecology. We show experiments in which our approach autonomously generates a configuration to perform a cooperative navigation task, and dynamically changes this configuration when one of the components fails.
|
|
| 13. |
- Karlsson, Lars, et al.
(författare)
-
To secure an anchor : a recovery planning approach to ambiguity in perceptual anchoring
- 2008
-
Ingår i: AI Communications. - Amsterdam : IOS Press. - 0921-7126 .- 1875-8452. ; 21:1, s. 1-14
-
Tidskriftsartikel (refereegranskat)abstract
- An autonomous robot using symbolic reasoning, sensing and acting in a real environment needs the ability to create and maintain the connection between symbols representing objects in the world and the corresponding perceptual representations given by its sensors. This connection has been named perceptual anchoring. In complex environments, anchoring is not always easy to establish: the situation may often be ambiguous as to which percept actually corresponds to a given symbol. In this paper, we extend perceptual anchoring to deal robustly with ambiguous situations by providing general methods for detecting them and recovering from them. We consider different kinds of ambiguous situations. We also present methods to recover from these situations based onautomatically formulating them as conditional planning problems that then are solved by a planner. We illustrate our approach by showing experiments involving a mobile robot equipped with a color camera and an electronic nose.
|
|
| 14. |
- Larsson, Johan, et al.
(författare)
-
An evaluation of local autonomy applied to teleoperated vehicles in underground mines
- 2010
-
Ingår i: 2010 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781424450381 ; , s. 1745-1752
-
Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- Autonomous vehicles are being increasingly introduced in the mining industry. While these may offer high safety and high productivity, fully autonomous solutions are not always applicable or economically viable. Teleoperation is an attractive option, since it increases safety and comfort of the drivers. Unfortunately, the difficulty to operate the vehicle remotely often results in reduced productivity. In this paper, we show that techniques from the field of mobile robotics can be used to mitigate this problem. We extend a commercial teleoperation system for use in underground mines with a local autonomy functionality, with the main purpose to evaluate if the achieved productivity improvement motivates development of general algorithms and a fully commercial implementation. We then describe a user study performed in an underground mine with a 38 tonne articulated wheel loader, which proves that local autonomy gives a significant improvement in productivity of the teleoperation system, while retaining or even reducing the maintenance costs.
|
|
| 15. |
- Larsson, Johan, et al.
(författare)
-
Flexible infrastructure free navigation for vehicles in underground mines
- 2008
-
Ingår i: 4th international IEEE conference intelligent systems, IS '08. - New York : IEEE. - 9781424417391 ; , s. 2-45-2-50
-
Konferensbidrag (refereegranskat)abstract
- During the last decade, mining companies and mobile equipment manufacturers have pursued improved efficiency, productivity, and safety in underground mining operations by automating some of the functions of underground vehicles. The work presented in this paper is the result of an effort to develop new flexible infrastructureless guidance system for autonomous tramming of center-articulated underground mining vehicles.
|
|
| 16. |
- Larsson, Johan, et al.
(författare)
-
Laser-based corridor detection for reactive navigation
- 2008
-
Ingår i: Industrial robot. - : Emerald. - 0143-991X .- 1758-5791. ; 35:1, s. 69-79
-
Tidskriftsartikel (refereegranskat)abstract
- For mobile robots operating in real-world environments, reactive navigation is a useful complement (or even replacement) to pure plan-based metric navigation. Reactive navigation is performed with respect to local perceived features, rather than a global metric reference frame, and can provide reduced installation costs, increased flexibility, and robustness to changes in the environment. To be effective, however, reactive navigation requires fast and reliable perception of the relevant features in the environment. Corridor-like structures are one of the most common features that are used for this purpose. In this paper, we propose a new method for corridor detection from laser data, based on the Hough transform, which is fast, reliable, and noise tolerant. We describe the algorithm, report an extensive experimental evaluation of its performance, and motivate the research with a real application involving the autonomous operation of a loader vehicle in an underground mine.
|
|
| 17. |
- Larsson, Johan, et al.
(författare)
-
Laser based intersection detection for reactive navigation in an underground mine
- 2008
-
Ingår i: IEEE/RSJ international conference on intelligent robots and systems, 2008, IROS 2008. - 9781424420575 ; , s. 2222-2227
-
Konferensbidrag (refereegranskat)abstract
- In this paper we propose a new feature detection algorithm to enable junction recognition intended for high speed reactive navigation in tunnel like environments. We also present an extensive experimental evaluation of the algorithm based on data recorded in a real mine. The algorithm is faster and has less environmental constraints than similar algorithms that can be found in the litterature.
|
|
| 18. |
|
|
| 19. |
- Rashid, Jayedur, 1979-, et al.
(författare)
-
A middleware to integrate robots, simple devices and everyday objects into an ambient ecology
- 2012
-
Ingår i: Pervasive and Mobile Computing. - : Elsevier. - 1574-1192 .- 1873-1589. ; 8:4, s. 522-541
-
Tidskriftsartikel (refereegranskat)abstract
- The fields of ambient intelligence, distributed robotics and wireless sensor networks are converging toward a common vision, in which ubiquitous sensing and acting devices cooperate to provide useful services in the home. These devices can range from sophisticated mobile robots to simple sensor nodes and even simpler tagged everyday objects. In this vision, a milkbox left on the table after the user has left the home could ask the service of a mobile robot to be placed back in the refrigerator. A missing ingredient to realize this vision is a mechanism that enables the communication and interoperation among such highly heterogeneous entities. In this paper, we propose such a mechanism in the form of a middleware able to integrate robots, tiny devices and augmented everyday objects into one and the same system. The key moves to cope with heterogeneity are: the definition of a tiny, compatible version of the middleware, that can run on small devices; and the concept of object proxy, used to make everyday object accessible within the middleware. We describe the concepts and implementation of our middleware, and show a number of experiments that illustrate its performance.
|
|
| 20. |
- Rashid, Jayedur, et al.
(författare)
-
Digital representation of everyday objects in a robot ecology via proxies
- 2008
-
Ingår i: IEEE/RSJ international conference on intelligent robots and systems, 2008, IROS 2008. - 9781424420575 ; , s. 1908-1914
-
Konferensbidrag (refereegranskat)abstract
- Robotic middlewares increasingly allow the seamless integration of multiple heterogeneous robots into one distributed system. Unfortunately, very simple devices like tagged everyday objects and smart objects are left orphan in this otherwise pervasive trend. We claim that the inclusion of simple everyday objects as part of distributed robot systems would have many advantages, and propose a design pattern to allow this inclusion. We make this pattern concrete by describing an implementation of it using a specific multi-robot middleware, called PEIS-Ecology Middleware. We also show an illustrative experiment which integrates everyday objects in a smart home equipped with mobile robots as well as more advanced distributed sensor nodes.
|
|
