| 11. |
- Broxvall, Mathias, et al.
(författare)
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PEIS ecology : integrating robots into smart environments
- 2006
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Ingår i: 2006 IEEE International Conference on Robotics and automation, ICRA 2006. - 0780395050 ; , s. 212-218
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Konferensbidrag (refereegranskat)abstract
- We introduce the concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology. This is a network of heterogeneous robotic devices (PEIS) pervasively embedded in the environment. A PEIS can be as simple as a toaster and as complex as a humanoid robot. PEIS can exchange information at different levels of abstraction, and share both physical and virtual functionalities to perform complex tasks. By putting together insights from the fields of autonomous robotics and of ambient intelligence, the PEIS-Ecology approach explores a new road to building assistive, personal, and service robots. In this paper, we discuss this concept, describe a first realization of it, and show an implemented use-case scenario.
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| 12. |
- Broxvall, Mathias, et al.
(författare)
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Recovery planning for ambiguous cases in perceptual anchoring
- 2005
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Ingår i: Proceedings of the 20th national conference on Artificial intelligence, AAAI-05. - 9781577352365 ; , s. 1254-1260
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Konferensbidrag (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 and present planning-based methods to recover from them. We illustrate our approach by showing experiments involving a mobile robot equipped with a color camera and an electronic nose.
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| 13. |
- Broxvall, Mathias, et al.
(författare)
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Steps toward detecting and recovering from perceptual failures
- 2004
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Ingår i: Proceedings of the 8th international conference on intelligent autonomous systems. ; , s. 793-800
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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.
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| 14. |
- Broxvall, Mathias, et al.
(författare)
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The PEIS kernel : a middleware for ubiquitous robotics
- 2007
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Konferensbidrag (refereegranskat)abstract
- The fields of autonomous robotics and ambient intelligence are converging toward the vision of smart robotic environments, or ubiquitous robotics, in which tasks are performed via the cooperation of many simple networked robotic devices. The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from these fields to provide a new solution to building intelligent robots in the service of people. To enable this vision, we need a common communication and cooperation model that allows dynamically assembled ad hoc networks of robotic devices, a flexible introspection and configuration model allowing automatic (re)configuration and that can be shared between robotic devices at different scales, ranging from standard mobile robots to tiny networked embedded devices. In this paper we discuss the development of a middleware suitable for ubiquitous robotics in general and P PEIS -Ecologies in specific. Our middleware is suitable for building truly ubiquitous robotics applications, in which devices of very different scales and capabilities can cooperate in a uniform way. We discuss the principles and implementation of our middleware, and also point to experimental results that show the viability of this concept.
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| 15. |
- Dragone, Mauro, et al.
(författare)
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A Programming Framework for Multi-agent Coordination of Robotic Ecologies
- 2013
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Ingår i: Programming Multi-Agent Systems. - Berlin, Heidelberg : Springer Publishing Company. - 9783642387005 ; , s. 72-89
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Konferensbidrag (refereegranskat)abstract
- Building smart environments with Robotic ecologies, comprising of distributed sensors, actuators and mobile robot devices facilitates and extends the nature and form of smart environments that can be developed, and reduces the complexity and cost of such solutions. While the potentials of such an approach makes robotic ecologies increasingly popular, many fundamental research questions remain open. One such question is how to make a robotic ecology self-adaptive, so as to adapt to changing conditions and evolving requirements, and consequently reduce the amount of preparation and pre-programming required for their deployment in real world applications. This paper presents a framework for the specification and the programming of robotic ecologies. The framework extends an existing agent system and integrates it with the pre-existing and dominant traditional robotic and middleware approach to the development of robotic ecologies. We illustrate how these technologies complement each other and offer a candidate technology to pursue adaptive robotic ecologies.
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| 16. |
- Gritti, Marco, et al.
(författare)
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Reactive self-configuration of an ecology of robots
- 2007
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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.
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| 17. |
- Larsson, Johan, et al.
(författare)
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A navigation system for automated loaders in underground mines
- 2006
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Ingår i: Field and Service Robotics. - Berlin : Springer Berlin/Heidelberg. - 9783540334538 ; , s. 129-140
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Konferensbidrag (refereegranskat)abstract
- For underground mining operations human operated LHD vehicles are typically used for transporting ore. Because of security issues and of the cost of human operators, alternative solutions such as tele-operated vehicles are often in use. Tele-operation, however, leads to reduced efficiency, and it is not an ideal solution. Full automation of the LHD vehicles is a challenging task, which is expected to result in increased operational efficiency, cost efficiency, and safety. In this paper, we present our approach to a fully automated solution currently under development. We use a fuzzy behavior-based approach for navigation, and develop a cheap and robust localization technique based on the deployment of inexpensive passive radio frequency identification (RFID) tags at key points in the mine.
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| 18. |
- Larsson, Johan, et al.
(författare)
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An evaluation of local autonomy applied to teleoperated vehicles in underground mines
- 2010
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Ingår i: 2010 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781424450381 ; , s. 1745-1752
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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.
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| 19. |
- Larsson, Johan, et al.
(författare)
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Fast laser-based feature recognition
- 2005
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Konferensbidrag (refereegranskat)abstract
- This paper we present our methods for feature recognition used for high speed reactive navigation based on a topological map, with none or sparse metric information. Our methods for corridor and intersection detection yields execution times of only a fraction of what we have found previously described in the relevant literature, and have proven robust and reliable in experiments performed both in office environment and in our test mine [Larsson et al., 2005]. A. Related Work Our Corridor
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| 20. |
- Larsson, Johan, et al.
(författare)
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Flexible infrastructure free navigation for vehicles in underground mines
- 2008
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Ingår i: 4th international IEEE conference intelligent systems, IS '08. - New York : IEEE. - 9781424417391 ; , s. 2-45-2-50
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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.
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