| 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. |
- 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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| 4. |
- Porathe, Thomas, 1954, et al.
(författare)
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Maritime Unmanned Navigation through Intelligence in Networks: The MUNIN project
- 2013
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Ingår i: 12th International Conference on Computer and IT Applications in the Maritime Industries, COMPIT’13, Cortona, 15-17 April 2013. - 9783892206637 ; , s. 177-183
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Konferensbidrag (refereegranskat)abstract
- This paper introduces the MUNIN project attempting to put a 200 meter long bulk carrier under autonomous control. The paper gives a motivation and an overview of the project as well as present some of the key research questions dealing with the human intervention possibilities. As a fallback option the unmanned ship is monitored by a shore control center which has the ability to take direct control if necessary. A challenge for the unmanned ship is the interaction with other manned ships.
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| 5. |
- Kostavelis, Ioannis, et al.
(författare)
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Supervised traversability learning for robot navigation
- 2011
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Ingår i: 12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011. - Berlin, Heidelberg : Springer Berlin/Heidelberg. ; , s. 289-298
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Konferensbidrag (refereegranskat)abstract
- This work presents a machine learning method for terrain's traversability classification. Stereo vision is used to provide the depth map of the scene. Then, a v-disparity image calculation and processing step extracts suitable features about the scene's characteristics. The resulting data are used as input for the training of a support vector machine (SVM). The evaluation of the traversability classification is performed with a leave-one-out cross validation procedure applied on a test image data set. This data set includes manually labeled traversable and non-traversable scenes. The proposed method is able to classify the scene of further stereo image pairs as traversable or non-traversable, which is often the first step towards more advanced autonomous robot navigation behaviours.
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| 6. |
- Rødseth, Ørnulf Jan, et al.
(författare)
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Communication Architecture for an Unmanned Merchant Ship
- 2013
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Ingår i: OCEANS - Bergen, 2013 MTS/IEEE. - 9781479900008 ; :2013, s. 1-9
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Konferensbidrag (refereegranskat)abstract
- Unmanned ships is an interesting proposal toimplement slow steaming and saving fuel while avoiding that the crew has to stay on board for very long deep-sea passages. To maintain efficiency and safety, autonomy has to be implemented to enable the ship to operate without requiring the SCC to continuously control the ship. Communication between ship and a shore control center (SCC) is therefore critical for the unmanned ship and proper safety and security precautions are required, including sufficient redundancy and backup solutions.Communication systems should be able to supply at least 4Megabits/second for full remote control from SCC, but reduced operation can be maintained at down to 125 kilobits/second. In autonomous mode, the required communication bandwidth will be very low. For an autonomous ship the higher bandwidth requirements are from ship to shore which is the opposite of the situation for normal ships. Cost and availability of communication is an issue. The use of technical and functionalindexes will enable the SCC to monitor the status of the ship at minimum load on operators and on the communication systems. The security and integrity of information transfers is crucial and appropriate means must be taken to ensure failure tolerance and fail to safe properties of the system.
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| 7. |
- Burmeister, Hans-Christoph, et al.
(författare)
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Can unmanned ships improve navigational safety?
- 2014
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Ingår i: Proceedings of the Transport Research Arena, TRA 2014, 14-17 April 2014, Paris.
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Konferensbidrag (refereegranskat)abstract
- Autonomous vehicles are appearing in ever-more fields such as aviation, public transportation and the automotive sector. That’s why it is not unlikely to see the deployment of unmanned merchant ships at some point in time. The collaborative research project MUNIN originates from this idea and aims to develop and verify a respective concept. The ship will primarily be guided by automated on-board decision-making systems but can also be controlled by a remote operator from a Shore Control Centre. The motives behind unmanned and autonomous ships include the shortage of skilled mariners and the facilitation of slow steaming strategies. This shall reduce the use of fuel and thus decrease ship exhaust gas emissions and operating expenses. Another motive, on which this paper will focus on, is the potential to improve navigational safety. So-called “human errors” are claimed to be responsible for the majority of accidents at sea. Thus, substituting the overtired officer of the watch by a nautical officer ashore bears potential to improve the safety of navigation.
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| 8. |
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| 9. |
- Kleiner, Alexander, et al.
(författare)
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Guaranteed Search With Large Teams of Unmanned Aerial Vehicles
- 2013
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Ingår i: Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781467356411 ; , s. 2977-2983
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Konferensbidrag (refereegranskat)abstract
- We consider the problem of detecting moving and evading targets by a team of coordinated unmanned aerial vehicles (UAVs) in large and complex 2D and 2.5D environments. Our approach is based on the coordination of 2D sweep lines that move through the environment to clear it from all contamination, representing the possibility of a target being located in an area, and thereby detecting all targets. The trajectories of the UAVs are implicitly given by the motion of these sweep lines and their costs are determined by the number of UAVs needed. A novel algorithm that computes low cost coordination strategies of the UAV sweep lines in simply connected polygonal environments is presented. The resulting strategies are then converted to strategies clearing multiply connected and 2.5D environments. Experiments on real and artificial elevation maps with complex visibility constraints are presented and demonstrate the feasibility and scalability of the approach. The algorithms used for the experiments are made available on a public repository.
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| 10. |
- Nalpantidis, Lazaros, et al.
(författare)
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Stereovision-based fuzzy obstacle avoidance method
- 2011
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Ingår i: International Journal of Humanoid Robotics. - : World Scientific. - 0219-8436. ; 8:1, s. 169-183
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Tidskriftsartikel (refereegranskat)abstract
- This work presents a stereovision-based obstacle avoidance method for autonomous mobile robots. The decision about the direction on each movement step is based on a fuzzy inference system. The proposed method provides an efficient solution that uses a minimum of sensors and avoids computationally complex processes. The only sensor required is a stereo camera. First, a custom stereo algorithm provides reliable depth maps of the environment in frame rates suitable for a robot to move autonomously. Then, a fuzzy decision making algorithm analyzes the depth maps and deduces the most appropriate direction for the robot to avoid any existing obstacles. The proposed methodology has been tested on a variety of self-captured outdoor images and the results are presented and discussed.
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