| 1. |
- Kavathatzopoulos, Iordanis, 1956-
(författare)
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Robots and systems as autonomous ethical agents
- 2010
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Ingår i: INTECH 2010. - Bangkok : Assumption University. - 9789746151108 ; , s. 5-9
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Konferensbidrag (refereegranskat)abstract
- IT systems and robots can help us to solve many problems caused by the quantity, variation and complexity of information; because we need to handle dangerous and risky situations; or because of our social and emotional needs like elderly care. In helping us, these systems have to make decisions and act accordingly to achieve the goals for which they were built. Ethical decision support tools can be integrated into robots and other decision making systems to secure that decisions are made according to the basic theories of philosophy and to the findings of psychological research. This can be done, in non-independent systems, as a way for the system to report to its operator, and to support the operator's ethical decision making. On the other hand, fully independent systems should be able to regulate their own decision making strategies and processes. However, this cannot be based on normative predefined criteria, or on the ability to make choices, or on having own control, or on ability of rational processing. It seems that it is necessary for an independent robot or decision system to have "emotions." That is, a kind of ultimate purposes that can lead the decision process, and depending on the circumstances, guide the adoption of a decision strategy, whatever it may be, rational, heuristic or automatic.
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| 2. |
- Kavathatzopoulos, Iordanis, 1956-, et al.
(författare)
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What are ethical agents and how can we make them work properly?
- 2011
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Ingår i: The computational turn. - Münster : MV-Wissenschaft. - 9783869913551 ; , s. 151-153
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Konferensbidrag (refereegranskat)abstract
- To support ethical decision making in autonomous agents, we suggest to implement decision tools based on classical philosophy and psychological research. As one possible avenue, we present EthXpert, which supports the process of structuring and assembling information about situations with possible moral implications.
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| 3. |
- Blanch, Krister, 1991
(författare)
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Beyond-application datasets and automated fair benchmarking
- 2023
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Beyond-application perception datasets are generalised datasets that emphasise the fundamental components of good machine perception data. When analysing the history of perception datatsets, notable trends suggest that design of the dataset typically aligns with an application goal. Instead of focusing on a specific application, beyond-application datasets instead look at capturing high-quality, high-volume data from a highly kinematic environment, for the purpose of aiding algorithm development and testing in general. Algorithm benchmarking is a cornerstone of autonomous systems development, and allows developers to demonstrate their results in a comparative manner. However, most benchmarking systems allow developers to use their own hardware or select favourable data. There is also little focus on run time performance and consistency, with benchmarking systems instead showcasing algorithm accuracy. By combining both beyond-application dataset generation and methods for fair benchmarking, there is also the dilemma of how to provide the dataset to developers for this benchmarking, as the result of a high-volume, high-quality dataset generation is a significant increase in dataset size when compared to traditional perception datasets. This thesis presents the first results of attempting the creation of such a dataset. The dataset was built using a maritime platform, selected due to the highly dynamic environment presented on water. The design and initial testing of this platform is detailed, as well as as methods of sensor validation. Continuing, the thesis then presents a method of fair benchmarking, by utilising remote containerisation in a way that allows developers to present their software to the dataset, instead of having to first locally store a copy. To test this dataset and automatic online benchmarking, a number of reference algorithms were required for initial results. Three algorithms were built, using the data from three different sensors captured on the maritime platform. Each algorithm calculates vessel odometry, and the automatic benchmarking system was utilised to show the accuracy and run-time performance of these algorithms. It was found that the containerised approach alleviated data management concerns, prevented inflated accuracy results, and demonstrated precisely how computationally intensive each algorithm was.
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| 4. |
- Benderius, Ola, 1985, et al.
(författare)
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The Best Rated Human-Machine Interface Design for Autonomous Vehicles in the 2016 Grand Cooperative Driving Challenge
- 2018
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Ingår i: IEEE transactions on intelligent transportation systems (Print). - 1524-9050 .- 1558-0016. ; 19:4, s. 1302-1307
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Tidskriftsartikel (refereegranskat)abstract
- This paper provides an in-depth description of the best rated human-machine interface that was presented during the 2016 Grand Cooperative Driving Challenge. It was demonstrated by the Chalmers Truck Team as the envisioned interface to their open source software framework OpenDLV, which is used to power Chalmers' fleet of self-driving vehicles. The design originates from the postulate that the vehicle is fully autonomous to handle even complex traffic scenarios. Thus, by including external and internal interfaces, and introducing a show, don't tell principle, it aims at fulfilling the needs of the vehicle occupants as well as other participants in the traffic environment. The design also attempts to comply with, and slightly extend, the current traffic rules and legislation for the purpose of being realistic for full-scale implementation.
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| 5. |
- Ghielmetti, N., et al.
(författare)
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Real-time semantic segmentation on FPGAs for autonomous vehicles with hls4ml
- 2022
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Ingår i: Machine Learning - Science and Technology. - : IOP Publishing. - 2632-2153. ; 3:4
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we investigate how field programmable gate arrays can serve as hardware accelerators for real-time semantic segmentation tasks relevant for autonomous driving. Considering compressed versions of the ENet convolutional neural network architecture, we demonstrate a fully-on-chip deployment with a latency of 4.9 ms per image, using less than 30% of the available resources on a Xilinx ZCU102 evaluation board. The latency is reduced to 3 ms per image when increasing the batch size to ten, corresponding to the use case where the autonomous vehicle receives inputs from multiple cameras simultaneously. We show, through aggressive filter reduction and heterogeneous quantization-aware training, and an optimized implementation of convolutional layers, that the power consumption and resource utilization can be significantly reduced while maintaining accuracy on the Cityscapes dataset.
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| 6. |
- Bouguerra, Abdelbaki, 1974-, et al.
(författare)
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An autonomous robotic system for load transportation
- 2009
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Ingår i: 2009 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2009). - New York : IEEE conference proceedings. - 9781424427277 - 9781424427284 ; , s. 1563-1566
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Konferensbidrag (refereegranskat)abstract
- This paper presents an overview of an autonomous robotic material handling system. The goal of the system is to extend the functionalities of traditional AGVs to operate in highly dynamic environments. Traditionally, the reliable functioning of AGVs relies on the availability of adequate infrastructure to support navigation. In the target environments of our system, such infrastructure is difficult to setup in an efficient way. Additionally, the location of objects to handle are unknown, which requires that the system be able to detect and track object positions at runtime. Another requirement of the system is to be able to generate trajectories dynamically, which is uncommon in industrial AGV systems.
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| 7. |
- Andersson, Olov, 1979-, et al.
(författare)
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WARA-PS : a research arena for public safety demonstrations and autonomous collaborative rescue robotics experimentation
- 2021
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Ingår i: Autonomous Intelligent Systems. - : Springer Nature. - 2730-616X. ; 1:1
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Tidskriftsartikel (refereegranskat)abstract
- A research arena (WARA-PS) for sensing, data fusion, user interaction, planning and control of collaborative autonomous aerial and surface vehicles in public safety applications is presented. The objective is to demonstrate scientific discoveries and to generate new directions for future research on autonomous systems for societal challenges. The enabler is a computational infrastructure with a core system architecture for industrial and academic collaboration. This includes a control and command system together with a framework for planning and executing tasks for unmanned surface vehicles and aerial vehicles. The motivating application for the demonstration is marine search and rescue operations. A state-of-art delegation framework for the mission planning together with three specific applications is also presented. The first one concerns model predictive control for cooperative rendezvous of autonomous unmanned aerial and surface vehicles. The second project is about learning to make safe real-time decisions under uncertainty for autonomous vehicles, and the third one is on robust terrain-aided navigation through sensor fusion and virtual reality tele-operation to support a GPS-free positioning system in marine environments. The research results have been experimentally evaluated and demonstrated to industry and public sector audiences at a marine test facility. It would be most difficult to do experiments on this large scale without the WARA-PS research arena. Furthermore, these demonstrator activities have resulted in effective research dissemination with high public visibility, business impact and new research collaborations between academia and industry.
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| 8. |
- Estrela, Vania V., et al.
(författare)
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Conclusions
- 2020
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Ingår i: Imaging and Sensing for Unmanned Aircraft Systems Volume 2. - : Institution of Engineering and Technology. - 9781785616440 - 9781785616457 ; , s. 247-248
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- The current awareness in unmanned aerial vehicles (UAVs) has prompted not only military applications but also civilian uses. Aerial vehicles’ requirements aspire to guarantee a higher level of safety comparable to see-and-avoid conditions for piloted aeroplanes. The process of probing obstacles in the path of a vehicle and determining whether they pose a threat, alongside measures to avoid these issues, is known as see and avoid or sense and avoid. Other types of decision-making tasks can be accomplished using computer vision and sensor integration since they have a great potential to improve the performance of the UAVs. Macroscopically, UAVs are cyber-physical systems (CPSs) that can benefit from all types of sensing frameworks, despite severe design constraints, such as precision, reliable communication, distributed processing capabilities and data management. This book is paying attention to several issues that are still under discussions in the field of UAV-CPSs. Thus, several trends and needs are discussed to foster criticism from the readers and to provide further food for thought.
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| 9. |
- Tiger, Mattias, 1989-, et al.
(författare)
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Stream Reasoning using Temporal Logic and Predictive Probabilistic State Models
- 2016
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Ingår i: 23nd International Symposium on Temporal Representation and Reasoning (TIME), 2016. - : IEEE Computer Society. - 9781509038251 ; , s. 196-205
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Konferensbidrag (refereegranskat)abstract
- Integrating logical and probabilistic reasoning and integrating reasoning over observations and predictions are two important challenges in AI. In this paper we propose P-MTL as an extension to Metric Temporal Logic supporting temporal logical reasoning over probabilistic and predicted states. The contributions are (1) reasoning over uncertain states at single time points, (2) reasoning over uncertain states between time points, (3) reasoning over uncertain predictions of future and past states and (4) a computational environment formalism that ground the uncertainty in observations of the physical world. Concrete robot soccer examples are given.
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| 10. |
- Nalpantidis, Lazaros, et al.
(författare)
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Computationally effective stereovision SLAM
- 2010
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Ingår i: 2010 IEEE International Conference on Imaging Systems and Techniques, IST 2010 - Proceedings. - : IEEE. - 9781424464944 ; , s. 458-463
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Konferensbidrag (refereegranskat)abstract
- In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed.
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