| 1. |
- 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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| 2. |
- 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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| 3. |
- Ringdahl, Ola, 1971-, et al.
(författare)
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Performance of RGB-D camera for different object types in greenhouse conditions
- 2019
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Ingår i: 2019 European conference on mobile robots (ECMR). - : IEEE. - 9781728136066 - 9781728136059
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Konferensbidrag (refereegranskat)abstract
- RGB-D cameras play an increasingly important role in localization and autonomous navigation of mobile robots. Reasonably priced commercial RGB-D cameras have recently been developed for operation in greenhouse and outdoor conditions. They can be employed for different agricultural and horticultural operations such as harvesting, weeding, pruning and phenotyping. However, the depth information extracted from the cameras varies significantly between objects and sensing conditions. This paper presents an evaluation protocol applied to a commercially available Fotonic F80 time-of-flight RGB-D camera for eight different object types. A case study of autonomous sweet pepper harvesting was used as an exemplary agricultural task. Each of the objects chosen is a possible item that an autonomous agricultural robot must detect and localize to perform well. A total of 340 rectangular regions of interests (ROI) were marked for the extraction of performance measures of point cloud density, and variability around center of mass, 30-100 ROIs per object type. An additional 570 ROIs were generated (57 manually and 513 replicated) to evaluate the repeatability and accuracy of the point cloud. A statistical analysis was performed to evaluate the significance of differences between object types. The results show that different objects have significantly different point density. Specifically metallic materials and black colored objects had significantly less point density compared to organic and other artificial materials introduced to the scene as expected. The point cloud variability measures showed no significant differences between object types, except for the metallic knife that presented significant outliers in collected measures. The accuracy and repeatability analysis showed that 1-3 cm errors are due to the the difficulty for a human to annotate the exact same area and up to ±4 cm error is due to the sensor not generating the exact same point cloud when sensing a fixed object.
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| 4. |
- Kavathatzopoulos, Iordanis, 1956-, et al.
(författare)
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How ethical robots process information, communicate and act
- 2015
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Ingår i: 1st TRANSOR Workshop.
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Konferensbidrag (refereegranskat)abstract
- Robots can be of great help to obtain optimal solutions to problems in situations where humans have difficulties to perceive and process information, or make decisions and implement actions because of the quantity, variation and complexity of information. However, if they do not act in accordance to our ethical values they will not be used or will cause harm. Classical philosophical theory and psychological research on problem solving and decision making gives us a concrete definition of ethics and opens up the way for the construction of robots that can support handling of moral problems. Linguistic research focusing on language use as realization of meaning during the communication between humans and robots gives us the tools for investigating how particular linguistic features such as words and grammar may be related to ethical thinking. In such research work we can focus on three different kinds of robots: The first one is already programmed to act in certain ways, and the focus is on designers using ethical tools to identify moral problems and formulate solutions. The second is an integrated system which is also pre-programmed but also contains an ethical tool to gather information, to present it to the operators and to communicate with them. The third is trained autonomous systems in which we will implement automatic judgment. Such research will help us to clarify theoretical issues, to formulate working methods, and to develop technical solutions that will support ethical decision making of automated IT systems.
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| 5. |
- Ambrus, Rares
(författare)
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Unsupervised construction of 4D semantic maps in a long-term autonomy scenario
- 2017
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Robots are operating for longer times and collecting much more data than just a few years ago. In this setting we are interested in exploring ways of modeling the environment, segmenting out areas of interest and keeping track of the segmentations over time, with the purpose of building 4D models (i.e. space and time) of the relevant parts of the environment.Our approach relies on repeatedly observing the environment and creating local maps at specific locations. The first question we address is how to choose where to build these local maps. Traditionally, an operator defines a set of waypoints on a pre-built map of the environment which the robot visits autonomously. Instead, we propose a method to automatically extract semantically meaningful regions from a point cloud representation of the environment. The resulting segmentation is purely geometric, and in the context of mobile robots operating in human environments, the semantic label associated with each segment (i.e. kitchen, office) can be of interest for a variety of applications. We therefore also look at how to obtain per-pixel semantic labels given the geometric segmentation, by fusing probabilistic distributions over scene and object types in a Conditional Random Field.For most robotic systems, the elements of interest in the environment are the ones which exhibit some dynamic properties (such as people, chairs, cups, etc.), and the ability to detect and segment such elements provides a very useful initial segmentation of the scene. We propose a method to iteratively build a static map from observations of the same scene acquired at different points in time. Dynamic elements are obtained by computing the difference between the static map and new observations. We address the problem of clustering together dynamic elements which correspond to the same physical object, observed at different points in time and in significantly different circumstances. To address some of the inherent limitations in the sensors used, we autonomously plan, navigate around and obtain additional views of the segmented dynamic elements. We look at methods of fusing the additional data and we show that both a combined point cloud model and a fused mesh representation can be used to more robustly recognize the dynamic object in future observations. In the case of the mesh representation, we also show how a Convolutional Neural Network can be trained for recognition by using mesh renderings.Finally, we present a number of methods to analyse the data acquired by the mobile robot autonomously and over extended time periods. First, we look at how the dynamic segmentations can be used to derive a probabilistic prior which can be used in the mapping process to further improve and reinforce the segmentation accuracy. We also investigate how to leverage spatial-temporal constraints in order to cluster dynamic elements observed at different points in time and under different circumstances. We show that by making a few simple assumptions we can increase the clustering accuracy even when the object appearance varies significantly between observations. The result of the clustering is a spatial-temporal footprint of the dynamic object, defining an area where the object is likely to be observed spatially as well as a set of time stamps corresponding to when the object was previously observed. Using this data, predictive models can be created and used to infer future times when the object is more likely to be observed. In an object search scenario, this model can be used to decrease the search time when looking for specific objects.
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| 6. |
- Simoens, Pieter, et al.
(författare)
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The Internet of Robotic Things : A review of concept, added value and applications
- 2018
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Ingår i: International Journal of Advanced Robotic Systems. - : Sage Publications. - 1729-8806 .- 1729-8814. ; 15:1
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Forskningsöversikt (refereegranskat)abstract
- The Internet of Robotic Things is an emerging vision that brings together pervasive sensors and objects with robotic and autonomous systems. This survey examines how the merger of robotic and Internet of Things technologies will advance the abilities of both the current Internet of Things and the current robotic systems, thus enabling the creation of new, potentially disruptive services. We discuss some of the new technological challenges created by this merger and conclude that a truly holistic view is needed but currently lacking.
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| 7. |
- David, Jennifer, 1987-, et al.
(författare)
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Gradient Based Path Optimization Method for Autonomous Driving
- 2017
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Ingår i: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - Piscataway, NJ : IEEE. - 9781538626825 - 9781538626818 - 9781538626832 ; , s. 4501-4508
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Konferensbidrag (refereegranskat)abstract
- This paper discusses the possibilities of extending and adapting the CHOMP motion planner to work with a non-holonomic vehicle such as an autonomous truck with a single trailer. A detailed study has been done to find out the different ways of implementing these constraints on the motion planner. CHOMP, which is a successful motion planner for articulated robots produces very fast and collision-free trajectories. This nature is important for a local path adaptor in a multi-vehicle path planning for resolving path-conflicts in a very fast manner and hence, CHOMP was adapted. Secondly, this paper also details the experimental integration of the modified CHOMP with the sensor fusion and control system of an autonomous Volvo FH-16 truck. Integration experiments were conducted in a real-time environment with the developed autonomous truck. Finally, additional simulations were also conducted to compare the performance of the different approaches developed to study the feasibility of employing CHOMP to autonomous vehicles. ©2017 IEEE
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| 8. |
- Guo, Meng, et al.
(författare)
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Multi-agent plan reconfiguration under local LTL specifications
- 2015
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Ingår i: The international journal of robotics research. - : SAGE Publications. - 0278-3649 .- 1741-3176. ; 34:2, s. 218-235
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Tidskriftsartikel (refereegranskat)abstract
- We propose a cooperative motion and task planning scheme for multi-agent systems where the agents have independently assigned local tasks, specified as linear temporal logic formulas. These tasks contain hard and soft sub-specifications. A least-violating initial plan is synthesized first for the potentially infeasible task and the partially-known workspace. This discrete plan is then implemented by the potential-field-based navigation controllers. While the system runs, each agent updates its knowledge about the workspace via its sensing capability and shares this knowledge with its neighbouring agents. Based on the knowledge update, each agent verifies and revises its motion plan in real time. It is ensured that the hard specification is always fulfilled for safety and the satisfaction for the soft specification is improved gradually. The design is distributed as only local interactions are assumed. The overall framework is demonstrated by a case study and an experiment.
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| 9. |
- Cai, Haibin, et al.
(författare)
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Sensing-enhanced Therapy System for Assessing Children with Autism Spectrum Disorders : A Feasibility Study
- 2019
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Ingår i: IEEE Sensors Journal. - : Institute of Electrical and Electronics Engineers (IEEE). - 1530-437X .- 1558-1748. ; 19:4, s. 1508-1518
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Tidskriftsartikel (refereegranskat)abstract
- It is evident that recently reported robot-assisted therapy systems for assessment of children with autism spectrum disorder (ASD) lack autonomous interaction abilities and require significant human resources. This paper proposes a sensing system that automatically extracts and fuses sensory features such as body motion features, facial expressions, and gaze features, further assessing the children behaviours by mapping them to therapist-specified behavioural classes. Experimental results show that the developed system has a capability of interpreting characteristic data of children with ASD, thus has the potential to increase the autonomy of robots under the supervision of a therapist and enhance the quality of the digital description of children with ASD. The research outcomes pave the way to a feasible machine-assisted system for their behaviour assessment. IEEE
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| 10. |
- Sun, Jiong, et al.
(författare)
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Tactile Interaction and Social Touch : Classifying Human Touch using a Soft Tactile Sensor
- 2017
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Ingår i: HAI '17. - New York : Association for Computing Machinery (ACM). - 9781450351133 ; , s. 523-526
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Konferensbidrag (refereegranskat)abstract
- This paper presents an ongoing study on affective human-robot interaction. In our previous research, touch type is shown to be informative for communicated emotion. Here, a soft matrix array sensor is used to capture the tactile interaction between human and robot and 6 machine learning methods including CNN, RNN and C3D are implemented to classify different touch types, constituting a pre-stage to recognizing emotional tactile interaction. Results show an average recognition rate of 95% by C3D for classified touch types, which provide stable classification results for developing social touch technology.
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