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Sökning: swepub > Örebro universitet > Saffiotti Alessandro > Karlsson Lars

  • Resultat 1-10 av 34
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1.
  • Cirillo, Marcello, et al. (författare)
  • A framework for human-aware robot planning
  • 2008
  • Ingår i: Tenth Scandinavian conference on artificial intelligence. - Amsterdam : IOS press. - 978-1-58603-867-0 ; s. 52-59
  • Konferensbidrag (refereegranskat)abstract
    • Robots that share their workspace with humans, like household or service robots, need to take into account the presence of humans when planning their actions. In this paper, we present a framework for human-aware planning in which we consider three kinds of human-robot interaction. We focus in particular on the core module of the framework, a human-aware planner that generates a sequence of actions for a robot, taking into account the status of the environment, the goals of the robot and the forecasted plan of the human. We present a first realization of this planner, together with two simple experiments that demonstrate the feasibility of our approach.
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2.
  • Cirillo, Marcello, et al. (författare)
  • Human-aware task planning for mobile robots
  • 2009
  • Ingår i: Proceedings of the 5th international conference on advanced robotics, ICAR 2009. - New York : IEEE. - 978-1-4244-4855-5 ; s. 1-7
  • Konferensbidrag (refereegranskat)abstract
    • Robots that share their workspace with people, like household or service robots, need to take into account the presence of humans when planning their actions. In this paper, we present a framework for human-aware planning that would make the robots capable of performing their tasks without interfering with the user in his every day life. We focus in particular on the core module of the framework, a humanaware planner that generates a sequence of actions for a robot, taking into account the state of the environment and the goals of the robot, together with a set of forecasted possible plans of the human. We describe the planner and its relations to other system components like a plan recognizer, and present a series of experiments performed with a household robot in a small apartment.
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3.
  • Lundh, Robert, et al. (författare)
  • Automatic configuration of multi-robot systems : planning for multiple steps
  • 2008
  • Ingår i: Proceeding of the 2008 conference on ECAI 2008 : 18th European conference on artificial intelligence. - Amsterdam : IOS Press. - 978-1-58603-891-5 ; s. 616-620
  • Konferensbidrag (refereegranskat)abstract
    • We consider multi-robot systems where robots need to cooperate tightly by sharing functionalities with each other. There are methods for automatically configuring a multi-robot system for tight cooperation, but they only produce a single configuration. In this paper, we show how methods for automatic configuration can be integrated with methods for task planning in order to produce a complete plan were each step is a configuration. We also consider the issues of monitoring and replanning in this context, and we demonstrate our approach on a real multi-robot system, the PEIS-Ecology
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4.
  • Bouguerra, Abdelbaki, et al. (författare)
  • Active execution monitoring using planning and semantic knowledge
  • 2007
  • Ingår i: Proc. of the ICAPS Workshop on Planning and Plan Execution for Real-World Systems, Providence, RI, 2007. ; s. 9-15
  • Konferensbidrag (övrigt vetenskapligt)abstract
    • To cope with the dynamics and uncertainty inherent in real world environments, autonomous mobile robots need to perform execution monitoring for verifying that their plans are executed as expected. Domain semantic knowledge has lately been proposed as a source of information to derive and monitor implicit expectations of executing actions. For instance, when the robot moves into an office, it would expect to see a desk and a chair. Such expectations are checked using the immediately available perceptual information. We propose to extend the semantic knowledge-based execution monitoring to handle situations where some of the required information is missing. To this end, we use AI sensor-based planning to actively search for such information. We show how verifying execution expectations can be formulated and solved as a planning problem involving sensing actions. Our approach is illustrated by showing test scenarios run in an indoor environment using a mobile robot.
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5.
  • Bouguerra, Abdelbaki, et al. (författare)
  • Handling uncertainty in semantic-knowledge based execution monitoring
  • 2007
  • Ingår i: IEEE/RSJ international conference on intelligent robots and systems, IROS 2007 San Diego, CA, 2007. - New York : IEEE. - 978-1-4244-0912-9 ; s. 437-443
  • Konferensbidrag (refereegranskat)abstract
    • Executing plans by mobile robots, in real world environments, faces the challenging issues of uncertainty and environment dynamics. Thus, execution monitoring is needed to verify that plan actions are executed as expected. Semantic domain-knowledge has lately been proposed as a source of information to derive and monitor implicit expectations of executing actions. For instance, when a robot moves into a room asserted to be an office, it would expect to see a desk and a chair. We propose to extend the semantic knowledge-based execution monitoring to take uncertainty in actions and sensing into account when verifying the expectations derived from semantic knowledge. We consider symbolic probabilistic action models, and show how semantic knowledge is used together with a probabilistic sensing model in the monitoring process of such actions. Our approach is illustrated by showing test scenarios run in an indoor environment using a mobile robot.
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6.
  • Bouguerra, Abdelbaki, et al. (författare)
  • Handling uncertainty in semantic-knowledge based execution monitoring
  • 2007
  • Ingår i: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on Oct. 29 2007-Nov. 2 2007. - NEW YORK : IEEE. - 978-1-4244-0912-9 ; s. 443-449
  • Bokkapitel (övrigt vetenskapligt)abstract
    • Executing plans by mobile robots, in real world environments, faces the challenging issues of uncertainty and environment dynamics. Thus, execution monitoring is needed to verify that plan actions are executed as expected. Semantic domain-knowledge has lately been proposed as a source of information to derive and monitor implicit expectations of executing actions. For instance, when a robot moves into a room asserted to be an office, it would expect to see a desk and a chair. We propose to extend the semantic knowledge-based execution monitoring to take uncertainty in actions and sensing into account when verifying the expectations derived from semantic knowledge. We consider symbolic probabilistic action models, and show how semantic knowledge is used together with a probabilistic sensing model in the monitoring process of such actions. Our approach is illustrated by showing test scenarios ran in an indoor environment using a mobile robot
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7.
  • Bouguerra, Abdelbaki, et al. (författare)
  • Monitoring the execution of robot plans using semantic knowledge
  • 2008
  • Ingår i: Robotics and Autonomous Systems. - Amsterdam : North-Holland Publishing Co. - 0921-8890. ; 56:11, s. 942-954
  • Tidskriftsartikel (refereegranskat)abstract
    • Even the best laid plans can fail, and robot plans executed in real world domains tend to do so often. The ability of a robot to reliably monitor the execution of plans and detect failures is essential to its performance and its autonomy. In this paper, we propose a technique to increase the reliability of monitoring symbolic robot plans. We use semantic domain knowledge to derive implicit expectations of the execution of actions in the plan, and then match these expectations against observations. We present two realizations of this approach: a crisp one, which assumes deterministic actions and reliable sensing, and uses a standard knowledge representation system (LOOM); and a probabilistic one, which takes into account uncertainty in action effects, in sensing, and in world states. We perform an extensive validation of these realizations through experiments performed both in simulation and on real robots.
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8.
  • Bouguerra, Abdelbaki, et al. (författare)
  • Semantic knowledge-based execution monitoring for mobile robots
  • 2007
  • Ingår i: 2007 IEEE international conference on robotics and automation (ICRA). - 1-4244-0601-3 ; s. 3693-3698
  • Konferensbidrag (refereegranskat)abstract
    • We describe a novel intelligent execution monitoring approach for mobile robots acting in indoor environments such as offices and houses. Traditionally, monitoring execution in mobile robotics amounted to looking for discrepancies between the model-based predicted state of executing an action and the real world state as computed from sensing data. We propose to employ semantic knowledge as a source of information to monitor execution. The key idea is to compute implicit expectations, from semantic domain information, that can be observed at run time by the robot to make sure actions are executed correctly. We present the semantic knowledge representation formalism, and how semantic knowledge is used in monitoring. We also describe experiments run in an indoor environment using a real mobile robot
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9.
  • Bouguerra, Abdelbaki, et al. (författare)
  • Situation assessment for sensor-based recovery planning
  • 2006
  • Ingår i: 17th European Conference on Artificial Intelligence (ECAI). - IOS Press. - 1-58603-642-4 ; s. 673-677
  • Konferensbidrag (refereegranskat)abstract
    • We present an approach for recovery from perceptual failures, or more precisely anchoring failures. Anchoring is the problem of connecting symbols representing objects to sensor data corresponding to the same objects. The approach is based on using planning, but our focus is not on the plan generation per se. We focus on the very important aspect of situation assessment and how it is carried out for recovering from anchoring failures. The proposed approach uses background knowledge to create hypotheses about world states and handles uncertainty in terms of probabilistic belief states. This work is relevant both from the perspective of developing the anchoring framework, and as a study in plan-based recovery from epistemic failures in mobile robots. Experiments on a mobile robot are shown to validate the applicability of the proposed approach.
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10.
  • Broxvall, Mathias, et al. (författare)
  • Have another look on failures and recovery planning in perceptual anchoring
  • 2004
  • 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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  • Resultat 1-10 av 34
  • [1]234Nästa
 
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