| 1. |
- Loutfi, Amy, 1978-, et al.
(författare)
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Ecare@home : A distributed research environment on semantic interoperability
- 2016
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Ingår i: Lect. Notes Inst. Comput. Sci. Soc. Informatics Telecommun. Eng.. - Cham : Springer International Publishing. - 9783319512334 - 9783319512341 ; , s. 3-8
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Konferensbidrag (refereegranskat)abstract
- This paper presents the motivation and challenges to developing semantic interoperability for an internet of things network that is used in the context of home based care. The paper describes a research environment which examines these challenges and illustrates the motivation through a scenario whereby a network of devices in the home is used to provide high-level information about elderly patients by leveraging from techniques in context awareness, automated reasoning, and configuration planning.
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| 2. |
- Wessén, Johan, et al.
(författare)
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A constraint programming model for the scheduling and workspace layout design of a dual-arm multi-tool assembly robot
- 2023
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Ingår i: Constraints. - : Springer. - 1383-7133 .- 1572-9354. ; 28, s. 71-
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Tidskriftsartikel (refereegranskat)abstract
- The generation of a robot program can be seen as a collection of sub-problems, where many combinations of some of these sub-problems are well studied. The performance of a robot program is strongly conditioned by the location of the tasks. However, the scope of previous methods does not include workspace layout design, likely missing high-quality solutions. In industrial applications, designing robot workspace layout is part of the commissioning. We broaden the scope and show how to model a dual-arm multi-tool robot assembly problem. Our model includes more robot programming sub-problems than previous methods, as well as workspace layout design. We propose a constraint programming formulation in MiniZinc that includes elements from scheduling and routing, extended with variable task locations. We evaluate the model on realistic assembly problems and workspaces, utilizing the dual-arm YuMi robot from ABB Ltd. We also evaluate redundant constraints and various formulations for avoiding arm-to-arm collisions. The best model variant quickly finds high-quality solutions for all problem instances. This demonstrates the potential of our approach as a valuable tool for a robot programmer. © 2023, The Author(s).
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| 3. |
- Salvado, João, 1991-, et al.
(författare)
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Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization
- 2018
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Ingår i: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781538680940 - 9781538680957 ; , s. 7940-7946
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Konferensbidrag (refereegranskat)abstract
- This paper is concerned with automating fleets of autonomous robots. This involves solving a multitude of problems, including goal assignment, motion planning, and coordination, while maximizing some performance criterion. While methods for solving these sub-problems have been studied, they address only a facet of the overall problem, and make strong assumptions on the use-case, on the environment, or on the robots in the fleet. In this paper, we formulate the overall fleet management problem in terms of Optimal Control. We describe a scheme for solving this problem in the particular case of fleets of non-holonomic robots navigating in an environment with obstacles. The method is based on a two-phase approach, whereby the first phase solves for fleet-wide boolean decision variables via Mixed Integer Quadratic Programming, and the second phase solves for real-valued variables to obtain an optimized set of trajectories for the fleet. Examples showcasing the features of the method are illustrated, and the method is validated experimentally.
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| 4. |
- Abdul Khaliq, Ali, 1987-, et al.
(författare)
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Point-to-point safe navigation of a mobile robot using stigmergy and RFID technology
- 2016
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Ingår i: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781509037629 ; , s. 1497-1504
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Konferensbidrag (refereegranskat)abstract
- Reliable autonomous navigation is still a challenging problem for robots with simple and inexpensive hardware. A key difficulty is the need to maintain an internal map of the environment and an accurate estimate of the robot’s position in this map. Recently, a stigmergic approach has been proposed in which a navigation map is stored into the environment, on a grid of RFID tags, and robots use it to optimally reach predefined goal points without the need for internal maps. While effective,this approach is limited to a predefined set of goal points. In this paper, we extend this approach to enable robots to travel to any point on the RFID floor, even if it was not previously identified as a goal location, as well as to keep a safe distance from any given critical location. Our approach produces safe, repeatable and quasi-optimal trajectories without the use of internal maps, self localization, or path planning. We report experiments run in a real apartment equipped with an RFID floor, in which a service robot either reaches or avoids a user who wears slippers equipped with an RFID tag reader.
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| 5. |
- Alirezaie, Marjan, 1980-, et al.
(författare)
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Context Recognition : Towards Automatic Query Generation
- 2015
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Ingår i: Ambient Intelligence. - Cham : Springer. - 9783319260044 - 9783319260051 ; , s. 205-218
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Konferensbidrag (refereegranskat)abstract
- In this paper, we present an ontology-based approach in designing knowledge model for context recognition (CR) systems. The main focus in this paper is on the use of an ontology to facilitate the generation of user-based queries to the CR system. By leveraging from the ontology, users need not know about sensor details and the structure of the ontology in expressing queries related to events of interest. To validate the approach and demonstrate the flexibility of the ontology for query generation, the ontology has been integrated in two separate application domains. The first domain considers a health care system implemented for the GiraffPlus project where the query generation process is automated to request information about activities of daily living. The second application uses the same ontology for an air quality monitoring application in the home. Since these two systems are independently developed for different purposes, the ease of applying the ontology upon them can be considered as a credit for its generality.
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| 6. |
- Amato, Giuseppe, et al.
(författare)
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Robotic UBIquitous COgnitive Network
- 2012
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Ingår i: Ambient Intelligence. - Berlin, Heidelberg : Springer-Verlag New York. - 9783642287824 - 9783642287831 ; , s. 191-195
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Konferensbidrag (refereegranskat)abstract
- Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them self-adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The EU FP7 project RUBICON develops self-sustaining learning solutions yielding cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, agent control systems, wireless sensor networks and machine learning. This paper briefly illustrates how these techniques are being extended, integrated, and applied to AAL applications.
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| 7. |
- Andreasson, Henrik, 1977-, et al.
(författare)
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Autonomous transport vehicles : where we are and what is missing
- 2015
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Ingår i: IEEE robotics & automation magazine. - 1070-9932 .- 1558-223X. ; 22:1, s. 64-75
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies.
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