| 21. |
- Larsson, Johan, et al.
(författare)
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Laser based intersection detection for reactive navigation in an underground mine
- 2008
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Ingår i: IEEE/RSJ international conference on intelligent robots and systems, 2008, IROS 2008. - 9781424420575 ; , s. 2222-2227
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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.
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| 22. |
- Loutfi, Amy, et al.
(författare)
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Putting olfaction into action : using an electronic nose on an multi-sensing mobile robot
- 2004
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Ingår i: Proceedings of the 2004 IEEE/RSJ international conference on intelligent robots and systems (IROS 2004). - 0780384636 ; , s. 337-342
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Konferensbidrag (refereegranskat)abstract
- Olfaction is a challenging new sensing modality for intelligent systems. With the emergence of electronic noses it is now possible to detect and recognise a range of different odours for a variety of applications. An existing application is to use electronic olfaction on mobile robots for the purpose of odour based navigation. In this work, we introduce a new application where electronic olfaction is used in cooperation with other types of sensors on a mobile robot in order to acquire the odour
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| 23. |
- Loutfi, Amy, et al.
(författare)
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Putting olfaction into action : anchoring symbols to sensor data using olfaction and planning
- 2005
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Ingår i: Workshop on planning and learning in a priori unknown or dynamic domains. ; , s. 35-40
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Konferensbidrag (refereegranskat)abstract
- Olfaction is a challenging new sensing modality for intelligent systems. With the emergence of electronic noses (e-noses) it is now possible to train a system to detect and recognise a range of different odours. In this work, we integrate the electronic nose on a multi-sensing mobile robotic platform. We plan for perceptual actions and examine when, how and where the e-nose should be activated.Finally, experiments are performed on a mobile robot equipped with an e-nose together with a variety of sensors and used for object detection.
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| 24. |
- Rashid, Jayedur, et al.
(författare)
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Digital representation of everyday objects in a robot ecology via proxies
- 2008
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Ingår i: IEEE/RSJ international conference on intelligent robots and systems, 2008, IROS 2008. - 9781424420575 ; , s. 1908-1914
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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.
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| 25. |
- Rashid, Jayedur, et al.
(författare)
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Indirect reference : reconfiguring distributed sensors and actuators
- 2010
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Ingår i: 2010 IEEE international conference on sensor networks, ubiquitous, and trustworthy computing. - : IEEE conference proceedings. - 9780769540498 ; , s. 284-290
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Konferensbidrag (refereegranskat)abstract
- Many sensor networks have lately included actuation as an important property of the nodes. With the introduction of actuation, new requirements are posed on these nodes in terms of reconfiguration of collaboration patterns. The sensors/actuators are very often connected to various heterogeneous hardware that have a few KBs of memory, low processing power and communication range, such as WSN motes. Also, for many applications networks of small and simple sensor and actuator nodes need to cooperate with networked robotic devices, which leads to further requirements to enable collaboration between devices of different scales. In this networked robot and sensor/actuator infrastructure, tasks are performed by the cooperation of multiple devices. Dynamically changing availability of devices as well as changes of tasks lead to a need of reconfiguration of the devices at runtime. Therefore a mechanism should be available in the communication level, which affords reconfiguration ability to the sensor/actuator nodes as well as robots. In this article, a concept called indirect reference is proposed, which facilitates dynamic reconfiguration of sets of distributed devices. We describe here also an implementation of the concept on a ubiquitous robotic middleware, which offers seamless integration of robots and WSN motes like tiny embedded devices with an example.
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| 26. |
- Saffiotti, Alessandro, et al.
(författare)
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PEIS ecologies : ambient intelligence meets autonomous robotics
- 2005
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Ingår i: Proceedings of the 2005 joint conference on Smart objects and ambient intelligence. - New York, NY, USA : ACM. - 1595933042 ; , s. 275-280
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Konferensbidrag (refereegranskat)abstract
- A common vision in the field of autonomous robotics is to create a skilled robot companion that is able to live in our homes and to perform physical tasks to help us in our everyday life. Another vision, coming from the field of ambient intelligence, is to create a network of intelligent devices that provides us with information, communication, and entertainment. We propose to combine these two visions into the new concept of an ecology of networked Physically Embedded Intelligent Systems (PEIS). In this paper, we define this concept, discuss ways to implement it, and illustrate it on a simple example involving some real robotic devices.
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| 27. |
- Saffiotti, Alessandro, et al.
(författare)
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Steps toward an ecology of physically embedded intelligent systems
- 2006
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Konferensbidrag (refereegranskat)abstract
- The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. While this concept provides great potential, it also presents a number of new scientific challenges. In this paper we introduce this concept, discuss its potential and its challenges, and present our current steps toward its realization. We also point to experimental results that show the viability of this concept. The discussion in this paper is also relevant to any type of ubiquitous robot or network robotic system
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| 28. |
- Saffiotti, Alessandro, 1960-, et al.
(författare)
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The PEIS-ecology project : vision and results
- 2008
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Ingår i: IEEE/RSJ international conference on intelligent robots and systems, IROS 2008. - New York : IEEE. - 9781424420575 ; , s. 2329-2335
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Konferensbidrag (refereegranskat)abstract
- The vision of an Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of autonomous robotics and ambient intelligence to provide a new approach to building robotic systems in the service of people. In this paper, we present this vision, and we report the results of a four-year collaborative research project between Sweden and Korea aimed at the concrete realization of this vision. We focus in particular on three results: a robotic middleware able to cope with highly heterogeneous systems; a technique for autonomous self-configuration and re-configuration; and a study of the problem of sharing information of both physical and digital nature.
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| 29. |
- Seeman, Mattias, et al.
(författare)
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An autonomous spherical robot for security tasks
- 2006
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Ingår i: 2006 IEEE International Conference on Computational Intelligence for Homeland Security and Personal Safety. - 1424407443 ; , s. 51-55
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Konferensbidrag (refereegranskat)abstract
- The use of remotely operated robotic systems in security related applications is becoming increasingly popular However, the direct teleoperation interfaces commonly used today put a large amount of cognitive burden on the operators, thus seriously reducing the efficiency and reliability of these systems. We present an approach to alleviate this problem by exploiting both software and hardware autonomy. At the software level, we propose a variable autonomy control architecture that dynamically adapts the degree of autonomy of the robot in terms of control, perception, and interaction. At the hardware level, we rely on the intrinsic autonomy and robustness provided by the spherical morphology of our Ground-Bot robot. We also present a prototype system for facilitating the interaction between human operators and robots using our control architecture. This work is specifically aimed at increasing the effectiveness of the GroundBot robot for remote inspection tasks
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| 30. |
- Seeman, Mattias, et al.
(författare)
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Virtual 360° panorama for remote inspection
- 2007
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Ingår i: IEEE international workshop on safety, security and rescue robotics, SSRR 2007. - New York : IEEE. - 9781424415694 ; , s. 1-5
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Konferensbidrag (refereegranskat)abstract
- The use of remotely operated robotic systems in security related applications is becoming increasingly popular. However, the direct teleoperation interfaces commonly used today put a large amount of cognitive burden on the operators, thus seriously reducing the efficiency and reliability of these systems. In the context of an adjustable autonomy control architecture meant to relieve operators from unnecessary low-level tasks, we present an user interface technique for 360° virtual panorama video as a perception aid to increase the situation awareness in tele-operation tasks, and as a block in the overall adjustable autonomy control architecture. At the hardware level, we rely on the intrinsic autonomy and robustness provided by the spherical morphology of our GroundBot robot. The work presented here is a step towards the overall goal of increasing the effectiveness of the GroundBot robot for remote inspection tasks.
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