| 1. |
- Larsson, Johan, et al.
(författare)
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Laser-based corridor detection for reactive navigation
- 2008
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Ingår i: Industrial robot. - : Emerald. - 0143-991X .- 1758-5791. ; 35:1, s. 69-79
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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.
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| 2. |
- Bouguerra, Abdelbaki, et al.
(författare)
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Handling uncertainty in semantic-knowledge based execution monitoring
- 2007
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Ingår i: IEEE/RSJ international conference on intelligent robots and systems, IROS 2007 San Diego, CA, 2007. - New York : IEEE. - 9781424409129 ; , s. 437-443
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Konferensbidrag (refereegranskat)abstract
- Executing plans by mobile robots, in real world environments, faces the challenging issues of uncertainty and environment dynamics. Thus, execution monitoring is needed to verify that plan actions are executed as expected. Semantic domain-knowledge has lately been proposed as a source of information to derive and monitor implicit expectations of executing actions. For instance, when a robot moves into a room asserted to be an office, it would expect to see a desk and a chair. We propose to extend the semantic knowledge-based execution monitoring to take uncertainty in actions and sensing into account when verifying the expectations derived from semantic knowledge. We consider symbolic probabilistic action models, and show how semantic knowledge is used together with a probabilistic sensing model in the monitoring process of such actions. Our approach is illustrated by showing test scenarios run in an indoor environment using a mobile robot.
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| 3. |
- Bordignon, Mirko, et al.
(författare)
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An inexpensive, off-the-shelf platform for networked embedded robotics
- 2007
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Ingår i: Proceedings of the 1st international conference on Robot communication and coordination, RoboComm '07. - Piscataway : IEEE press. - 9789639799080 ; , s. Art no: 45-
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Konferensbidrag (refereegranskat)abstract
- Recent years have witnessed the proliferation of a new class of devices, commonly referred to as Networked Embedded Devices. Their increasingly low cost and small size make them suited for large scale sensing applications. Likewise, they could be appealing as a means to embed intelligent actuation capabilities into the environment, turning simple artifacts into networked robotic appliances. The currently existing devices, however, are not suited for this development. In this paper, we present the PEIS-Mote: an open, general, small-size and inexpensive sensor-actuator node especially suited for networked robotics, and built from commonly available off-the-shelf components. This platform can run a popular operating system for sensor networks, TinyOS, which makes it interoperable with most commercially available sensor nodes.
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| 4. |
- Bouguerra, Abdelbaki, et al.
(författare)
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Monitoring the execution of robot plans using semantic knowledge
- 2008
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Ingår i: Robotics and Autonomous Systems. - Amsterdam : North-Holland Publishing Co. - 0921-8890 .- 1872-793X. ; 56:11, s. 942-954
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Tidskriftsartikel (refereegranskat)abstract
- Even the best laid plans can fail, and robot plans executed in real world domains tend to do so often. The ability of a robot to reliably monitor the execution of plans and detect failures is essential to its performance and its autonomy. In this paper, we propose a technique to increase the reliability of monitoring symbolic robot plans. We use semantic domain knowledge to derive implicit expectations of the execution of actions in the plan, and then match these expectations against observations. We present two realizations of this approach: a crisp one, which assumes deterministic actions and reliable sensing, and uses a standard knowledge representation system (LOOM); and a probabilistic one, which takes into account uncertainty in action effects, in sensing, and in world states. We perform an extensive validation of these realizations through experiments performed both in simulation and on real robots.
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| 5. |
- 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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| 6. |
- 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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| 7. |
- Cirillo, Marcello, 1978-, et al.
(författare)
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Monitoring domestic activities with temporal constraints and components
- 2009
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Ingår i: Intelligent environments 2009. - Amsterdam : IOS Press. - 9781607500346 ; , s. 117-124
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Konferensbidrag (refereegranskat)abstract
- Intelligent environments are increasingly rich in ubiquitous sensing capabilities that can be leveraged to know which actions a user is engaged in at any given moment in time. The ability of an intelligent environment to recognize a high-level plan of activities performed by the user in a smart home would allow to construct proactive services, such as reminding, forecasting and providing timely physical support. This article proposes an approach to human activity recognition based on temporal planning. The approach leverages on one hand the ubiquitous sensors provided by the PEIS-Home, a sensor-rich intelligent environment, and, on the other hand, the temporal representation and reasoning capabilities of OMPS, a constraint-based temporal planning and scheduling framework.
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| 8. |
- 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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| 9. |
- Di Lello, Enrico, et al.
(författare)
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Robotic furniture in a smart environment : the PEIS table
- 2009
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Ingår i: Workshops Proceedings of the 5th International Conference on Intelligent Environments. - Amsterdam : IOS Press. - 9781607500568 ; , s. 185-192
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Konferensbidrag (refereegranskat)abstract
- According to a recent trend, robotic technologies will be included into domestic environments in the form of simple, networked robotic devices able to cooperate in the performance of tasks. These devices may take the form of smart appliances, distributed sensors, or robotic furniture. In this paper, we describe the design of an autonomous robotic table and its inclusion in a smart environment, the PEIS Ecology. The design takes into account the constraints posed by the domestic environment. The robotic table can perform autonomous point-to-point navigation, and it can collaborate with the other devices in the ecology to perform complex tasks that go beyond simple navigation.
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| 10. |
- Di Lello, Enrico, et al.
(författare)
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The PEIS table : an autonomous robotic table for domestic environments
- 2009
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Konferensbidrag (refereegranskat)abstract
- Two main trends are emerging in the area of home and service robotics. The classical one aims at the development of a single skilled servant robot, able to perform complex tasks in a passive environment. The second, more recent trend aims at the achievement of domestic tasks through the cooperation of a network of simpler robotic devices pervasively embedded in the environment. This paper contributes to the latter trend by describing the PEIS Table, a robotic table that can be embedded in a domestic environment and perform autonomous navigation tasks. The PEIS Table can operate alone, or it can be part of a smart robotic environment, based on the concept of PEIS Ecology, and cooperate with other devices to perform more complex tasks. The hardware construction and navigation software of the PEIS Table are guided by a set of requirements for robotic domestic furniture. Interestingly, these are not the same as the requirements usually considered for service robots.
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