| 1. |
- Broxvall, Mathias, et al.
(författare)
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An ecological approach to odour recognition in intelligent environments
- 2006
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Ingår i: 2006 IEEE International Conference on Robotics and automation, ICRA 2006. - 0-7803-9505-0 ; s. 2066-2071
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Konferensbidrag (refereegranskat)abstract
- We present a new approach for odour detection and recognition based on a so-called PEIS-Ecology: a network of gas sensors and a mobile robot are integrated in an intelligent environment. The environment can provide information regarding the location of potential odour sources, which is then relayed to a mobile robot equipped with an electronic nose. The robot can then perform a more thorough analysis of the odour character. This is a novel approach which alleviates some the challenges in mobile olfaction techniques by single and embedded mobile robots. The environment also provides contextual information which can be used to constrain the learning of odours, which is shown to improve classification performance.
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| 2. |
- 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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| 3. |
- 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 : volume 3. - 978-1-57735-236-5 ; 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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| 4. |
- Karlsson, Lars, et al.
(författare)
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To secure an anchor : a recovery planning approach to ambiguity in perceptual anchoring
- 2008
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Ingår i: AI Communications. - Amsterdam : IOS Press. - 0921-7126. ; 21:1, s. 1-14
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Tidskriftsartikel (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. We also present methods to recover from these situations based onautomatically formulating them as conditional planning problems that then are solved by a planner.We illustrate our approach by showing experiments involving a mobile robot equipped with a color camera and an electronic nose.
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| 5. |
- Loutfi, Ami, et al.
(författare)
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Object recognition : a new application for smelling robots
- 2005
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Ingår i: Robotics and Autonomous Systems. - 0921-8890. ; 52:4, s. 272-289
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Tidskriftsartikel (refereegranskat)abstract
- Olfaction is a challenging new sensing modality for intelligent systems. With the emergence of electronic noses, it is now possible to detect and recognize a range of different odours for a variety of applications. In this work, we introduce a new application where electronic olfaction is used in cooperation with other types of sensors on a mobile robot in order to acquire the odour property of objects.We examine the problem of deciding when, how and where the electronic nose (e-nose) should be activated by planning for active perception and we consider the problem of integrating the information provided by the e-nose with both prior information and information from other sensors (e.g., vision). Experiments performed on a mobile robot equipped with an e-nose are presented.
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| 6. |
- Loutfi, Amy, et al.
(författare)
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Putting olfaction into action : using an electronic nose on an multi-sensing mobile robot
- 2004
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Ingår i: Proceedings of the 2004 IEEE/RSJ international conference on intelligent robots and systems (IROS 2004). - 0-7803-8463-6 ; s. 337-342
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Konferensbidrag (refereegranskat)abstract
- Olfaction is a challenging new sensing modality for intelligent systems. With the emergence of electronic noses it is now possible to detect and recognise a range of different odours for a variety of applications. An existing application is to use electronic olfaction on mobile robots for the purpose of odour based navigation. In this work, we introduce a new application where electronic olfaction is used in cooperation with other types of sensors on a mobile robot in order to acquire the odour
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| 7. |
- Loutfi, Amy, et al.
(författare)
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Putting olfaction into action : anchoring symbols to sensor data using olfaction and planning
- 2005
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Ingår i: Workshop on planning and learning in a priori unknown or dynamic domains : Proceedings of the 19th IJCAI conference Edinburgh, UK, August 2005. ; s. 35-40
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Konferensbidrag (refereegranskat)abstract
- Olfaction is a challenging new sensing modality for intelligent systems. With the emergence of electronic noses (e-noses) it is now possible to train a system to detect and recognise a range of different odours. In this work, we integrate the electronic nose on a multi-sensing mobile robotic platform. We plan for perceptual actions and examine when, how and where the e-nose should be activated.Finally, experiments are performed on a mobile robot equipped with an e-nose together with a variety of sensors and used for object detection.
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