| 1. |
- Broxvall, Mathias, et al.
(author)
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Have another look on failures and recovery planning in perceptual anchoring
- 2004
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Conference paper (peer-reviewed)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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| 2. |
- Broxvall, Mathias, et al.
(author)
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Recovery planning for ambiguous cases in perceptual anchoring
- 2005
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In: Proceedings of the 20th national conference on Artificial intelligence, AAAI-05. - 9781577352365 ; , s. 1254-1260
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Conference paper (peer-reviewed)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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| 3. |
- Broxvall, Mathias, et al.
(author)
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Steps toward detecting and recovering from perceptual failures
- 2004
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In: Proceedings of the 8th international conference on intelligent autonomous systems. ; , s. 793-800
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Conference paper (peer-reviewed)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 investigate how traditional AI planning techniques can be used to reason about observations and to recover from these situations. In this first step we concentrate on failures in perceptual anchoring. We illustrate our approach by showing experiments run on a mobile robot equipped with a color camera.
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| 4. |
- d. C. Silva-Lopez, Lia Susana, 1985-, et al.
(author)
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Towards configuration planning with partially ordered preferences : representation and results
- 2015
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In: Künstliche Intelligenz. - : Springer Berlin/Heidelberg. - 0933-1875 .- 1610-1987. ; 9:2, s. 173-183
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Journal article (peer-reviewed)abstract
- Configuration planning for a distributed robotic system is the problem of how to configure the system over time in order to achieve some causal and/or information goals. A configuration plan specifies what components (sensor, actuator and computational devices), should be active at different times and how they should exchange information. However, not all plans that solve a given problem need to be equally good, and for that purpose it may be important to take preferences into account. In this paper we present an algorithm for configuration planning that incorporates general partially ordered preferences. The planner supports multiple preference categories, and hence it solves a multiple-objective optimization problem: for a given problem, it finds all possible valid, non-dominated configuration plans. The planner has been able to successfully cope with partial ordering relations between quantitative preferences in practically acceptable times, as shown in the empirical results. Preferences here are represented as c-semirings, and are used for establishing dominance of a solution over another in order to obtain a set of configuration plans that will constitute the solution of a configuration planning problem with partially ordered preferences. The dominance operators tested in this paper are Pareto and Lorenz dominance. Our solver considers one guiding heuristic for obtaining the first solution, and then switches to a dominance based monotonically decreasing heuristic used for pruning dominated partial configuration plans. In our empirical results, we perform a statistical study in the space of problem instances and establish families of problems for which our approach is computationally feasible.
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| 5. |
- Karlsson, Lars, et al.
(author)
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To secure an anchor : a recovery planning approach to ambiguity in perceptual anchoring
- 2008
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In: AI Communications. - Amsterdam : IOS Press. - 0921-7126 .- 1875-8452. ; 21:1, s. 1-14
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Journal article (peer-reviewed)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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| 6. |
- Loutfi, Amy, et al.
(author)
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Object recognition : a new application for smelling robots
- 2005
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In: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 52:4, s. 272-289
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Journal article (peer-reviewed)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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| 7. |
- Loutfi, Amy, et al.
(author)
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Putting olfaction into action : using an electronic nose on an multi-sensing mobile robot
- 2004
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In: Proceedings of the 2004 IEEE/RSJ international conference on intelligent robots and systems (IROS 2004). - 0780384636 ; , s. 337-342
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Conference paper (peer-reviewed)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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| 8. |
- Loutfi, Amy, et al.
(author)
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Putting olfaction into action : anchoring symbols to sensor data using olfaction and planning
- 2005
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In: Workshop on planning and learning in a priori unknown or dynamic domains. ; , s. 35-40
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Conference paper (peer-reviewed)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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