| 11. |
- Broxvall, Mathias, et al.
(författare)
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Have another look on failures and recovery planning in perceptual anchoring
- 2004
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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 demonstrate how techniques for planning with sensing under uncertainty can play a major role in solving the problem of recovering from such situations. In this first step we concentrate on failures in perceptual anchoring, that is how to connect a symbol representing an object to the percepts of that object. We provide a classification of failures and present planning-based methods for recovering from them. We illustrate our approach by showing tests run on a mobile robot equipped with a color camera.
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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. |
- Cirillo, Marcello, 1978-, et al.
(författare)
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A framework for human-aware robot planning
- 2008
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Ingår i: Tenth Scandinavian conference on artificial intelligence. - Amsterdam : IOS press. - 9781586038670 ; , s. 52-59
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Konferensbidrag (refereegranskat)abstract
- Robots that share their workspace with humans, like household or service robots, need to take into account the presence of humans when planning their actions. In this paper, we present a framework for human-aware planning in which we consider three kinds of human-robot interaction. We focus in particular on the core module of the framework, a human-aware planner that generates a sequence of actions for a robot, taking into account the status of the environment, the goals of the robot and the forecasted plan of the human. We present a first realization of this planner, together with two simple experiments that demonstrate the feasibility of our approach.
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| 15. |
- Cirillo, Marcello, et al.
(författare)
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A human-aware robot task planner
- 2009
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Ingår i: Proceedings of the 19th international conference on automated planning and scheduling, ICAPS 2009. - Menlo Park : AAAI press. - 9781577354062 ; , s. 58-65
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Konferensbidrag (refereegranskat)abstract
- The growing presence of household robots in inhabited environments arises the need for new robot task planning techniques. These techniques should take into consideration not only the actions that the robot can perform or unexpected external events, but also the actions performed by a human sharing the same environment, in order to improve the cohabitation of the two agents, e.g., by avoiding undesired situations for the human. In this paper, we present a human-aware planner able to address this problem. This planner supports alternative hypotheses of the human plan, temporal duration for the actions of both the robot and the human, constraints on the interaction between robot and human, partial goal achievement and, most importantly, the possibility to use observations of human actions in the policy generated for the robot. The planner has been tested as a standalone component and in conjunction with our framework for human-robot interaction in a real environment.
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| 16. |
- Cirillo, Marcello, 1978-, et al.
(författare)
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Human-aware planning for robots embedded in ambient ecologies
- 2012
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Ingår i: Pervasive and Mobile Computing. - : Elsevier. - 1574-1192 .- 1873-1589. ; 8:4, s. 542-561
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Tidskriftsartikel (refereegranskat)abstract
- We address the issue of human-robot cohabitation in smart environments. In particular, the presence of humans in a robot's work space has a profound influence on how the latter should plan its actions. We propose the use of Human-Aware Planning, an approach in which the robot exploits the capabilities of a sensor-rich environment to obtain information about the (current and future) activities of the people in the environment, and plans its tasks accordingly.Here, we formally describe the planning problem behind our approach, we analyze its complexity and we detail the algorithm of our planner. We then show two application scenarios that could benefit from the techniques described. The first scenario illustrates the applicability of human-aware planning in a domestic setting, while the second one illustrates its use for a robotic helper in a hospital. Finally, we present a five hour-long test run in a smart home equipped with real sensors, where a cleaning robot has been deployed and where a human subject is acting. This test run in a real setting is meant to demonstrate the feasibility of our approach to human-robot interaction.
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| 17. |
- Cirillo, Marcello, et al.
(författare)
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Human-aware task planning : an application to mobile robots
- 2010
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Ingår i: ACM transactions on interactive intelligent systems. - : ACM Press. - 2157-6904. ; 1:2, s. Article 15-
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Tidskriftsartikel (refereegranskat)abstract
- Consider a house cleaning robot planning its activities for the day. Assume that the robot expects the human inhabitant to first dress, then have breakfast, and finally go out. Then, it should plan not to clean the bedroom while the human is dressing, and to clean the kitchen after the human has had breakfast. In general, robots operating in inhabited environments, like households and future factory floors, should plan their behavior taking into account the actions that will be performed by the humans sharing the same environment. This would improve human-robot cohabitation, for example, by avoiding undesired situations for the human. Unfortunately, current task planners only consider the robot's actions and unexpected external events in the planning process, and cannot accommodate expectations about the actions of the humans.In this article, we present a human-aware planner able to address this problem. Our planner supports alternative hypotheses of the human plan, temporal duration for the actions of both the robot and the human, constraints on the interaction between robot and human, partial goal achievement and, most importantly, the possibility to use observations of human actions in the policy generated for the robot. Our planner has been tested both as a stand-alone component and within a full framework for human-robot interaction in a real environment.
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| 18. |
- Cirillo, Marcello, 1978-, et al.
(författare)
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Human-aware task planning for mobile robots
- 2009
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Ingår i: Proceedings of the 5th international conference on advanced robotics, ICAR 2009. - New York : IEEE conference proceedings. - 9781424448555 ; , s. 172-178
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Konferensbidrag (refereegranskat)abstract
- Robots that share their workspace with people, like household or service robots, need to take into account the presence of humans when planning their actions. In this paper, we present a framework for human-aware planning that would make the robots capable of performing their tasks without interfering with the user in his every day life. We focus in particular on the core module of the framework, a humanaware planner that generates a sequence of actions for a robot, taking into account the state of the environment and the goals of the robot, together with a set of forecasted possible plans of the human. We describe the planner and its relations to other system components like a plan recognizer, and present a series of experiments performed with a household robot in a small apartment.
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| 19. |
- Cirillo, Marcello
(författare)
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Planning in Inhabited Environments : Human-Aware Task Planning and Activity Recognition
- 2010
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Promised some decades ago by researchers in artificial intelligence and robotics as an imminent breakthrough in our everyday lives, a robotic assistant that could work with us in our home and our workplace is a dream still far from being fulfilled. The work presented in this thesis aims at bringing this future vision a little closer to realization. Here, we start from the assumption that an efficient robotic helper should not impose constraints on users' activities, but rather perform its tasks unobtrusively to fulfill its goals and to facilitate people in achieving their objectives. Also, the helper should be able to consider the outcome of possible future actions by the human users, to assess how those would affect the environment with respect to the agent's objectives, and to predict when its support will be needed. In this thesis we address two highly interconnected problems that are essential for the cohabitation of people and service robots: robot task planning and human activity recognition. First, we present human-aware planning, that is, our approach to robot high-level symbolic reasoning for plan generation. Human-aware planning can be applied in situations where there is a controllable agent, the robot, whose actions we can plan, and one or more uncontrollable agents, the human users, whose future actions we can only try to predict. In our approach, therefore, the knowledge of the users' current and future activities is an important prerequisite. We define human-aware as a new type of planning problem, we formalize the extensions needed by a classical planner to solve such a problem, and we present the implementation of a planner that satisfies all identified requirements. In this thesis we explore also a second issue, which is a prerequisite to the first one: human activity monitoring in intelligent environments. We adopt a knowledge driven approach to activity recognition, whereby a constraint-based domain description is used to correlate sensor readings to human activities. We validate our solutions to both human-aware planning and activity recognition both theoretically and experimentally, describing a number of explanatory examples and test runs in a real environment.
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| 20. |
- Coradeschi, Silvia, et al.
(författare)
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Fuzzy anchoring
- 2001
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Ingår i: The 10th IEEE international conference on fuzzy systems. - 078037293X ; , s. 111-114
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Konferensbidrag (refereegranskat)abstract
- An intelligent physical agent must incorporate motor and perceptual processes to interface with the physical world, and abstract cognitive processes to reason about the world and the options available. One crucial aspect of incorporating cognitive processes into a physically embedded reasoning system is the integration between the symbols used by the reasoning processes to denote physical objects, and the perceptual data corresponding to these objects. We treat this integration aspect by proposing a fuzzy computational theory of anchoring. Anchoring is the process of creating and maintaining the correspondence between symbols and percepts that refer to the same physical objects. Modeling this process using fuzzy set-theoretic notions enables dealing with perceptual data that can be affected by uncertainty/imprecision and imprecise/vague linguistic descriptions of objects
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