| 1. |
- Amato, G., et al.
(författare)
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Robotic Ubiquitous Cognitive Ecology for Smart Homes
- 2015
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Ingår i: Journal of Intelligent and Robotic Systems. - : Springer. - 0921-0296 .- 1573-0409. ; 80, s. S57-S81
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Tidskriftsartikel (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 both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent-based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a proof of concept smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feedback received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work.
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| 2. |
- Bacciu, Davide, et al.
(författare)
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An ambient intelligence approach for learning in smart robotic environments
- 2019
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Ingår i: Computational intelligence. - : Wiley-Blackwell. - 0824-7935 .- 1467-8640. ; 35:4, s. 1060-1087
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Tidskriftsartikel (refereegranskat)abstract
- Smart robotic environments combine traditional (ambient) sensing devices and mobile robots. This combination extends the type of applications that can be considered, reduces their complexity, and enhances the individual values of the devices involved by enabling new services that cannot be performed by a single device. To reduce the amount of preparation and preprogramming required for their deployment in real-world applications, it is important to make these systems self-adapting. The solution presented in this paper is based upon a type of compositional adaptation where (possibly multiple) plans of actions are created through planning and involve the activation of pre-existing capabilities. All the devices in the smart environment participate in a pervasive learning infrastructure, which is exploited to recognize which plans of actions are most suited to the current situation. The system is evaluated in experiments run in a real domestic environment, showing its ability to proactively and smoothly adapt to subtle changes in the environment and in the habits and preferences of their user(s), in presence of appropriately defined performance measuring functions.
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| 3. |
- Bacciu, Davide, et al.
(författare)
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Learning context-aware mobile robot navigation in home environments
- 2014
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Ingår i: IISA 2014. - New York : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 57-62
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Konferensbidrag (refereegranskat)abstract
- We present an approach to make planning adaptive in order to enable context-aware mobile robot navigation. We integrate a model-based planner with a distributed learning system based on reservoir computing, to yield personalized planning and resource allocations that account for user preferences and environmental changes. We demonstrate our approach in a real robot ecology, and show that the learning system can effectively exploit historical data about navigation performance to modify the models in the planner, without any prior information oncerning the phenomenon being modeled. The plans produced by the adapted CL fail more rarely than the ones generated by a non-adaptive planner. The distributed learning system handles the new learning task autonomously, and is able to automatically identify the sensorial information most relevant for the task, thus reducing the communication and computational overhead of the predictive task.
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| 4. |
- Carletti, Cristina, et al.
(författare)
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A distributed transferable belief model for collaborative topological map-building in multi-robot systems
- 2010
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Ingår i: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : IEEE. - 9781424466740 - 9781424466764 ; , s. 554-560
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Konferensbidrag (refereegranskat)abstract
- In this paper the problem of multi-robot collaborative topological map-building is addressed. In this framework, a team of robots is supposed to move in an indoor office-like environment. Each robot, after building a local map by using infrared range-finders, achieves a topological representation of the environment by extracting the most significant features via the Hough transform and comparing them with a set of predefined environmental patterns. The local view of each robot which is significantly constrained by its limited sensing capabilities is then strengthened by a collaborative aggregation schema based on the Transferable Belief Model (TBM). In this way, a better representation of the environment is achieved by each robot with a minimal exchange of information. A preliminary experimental validation carried out by exploiting data collected from a self-made team of robots is proposed.
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| 5. |
- Cavallo, Filippo, et al.
(författare)
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Development of a socially believable multi-robot solution from town to home
- 2014
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Ingår i: Cognitive Computation. - : Springer Science and Business Media LLC. - 1866-9956 .- 1866-9964. ; 6:4, s. 954-967
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Tidskriftsartikel (refereegranskat)abstract
- Technological advances in the robotic and ICT fields represent an effective solution to address specific societal problems to support ageing and independent life. One of the key factors for these technologies is that they have to be socially acceptable and believable to the end-users. This paper aimed to present some technological aspects that have been faced to develop the Robot-Era system, a multi-robotic system that is able to act in a socially believable way in the environments daily inhabited by humans, such as urban areas, buildings and homes. In particular, this paper focuses on two services-shopping delivery and garbage collection-showing preliminary results on experiments conducted with 35 elderly people. The analysis adopts an end-user-oriented perspective, considering some of the main attributes of acceptability: usability, attitude, anxiety, trust and quality of life.
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| 6. |
- Di Rocco, Maurizio, 1982-, et al.
(författare)
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A Planner for Ambient Assisted Living : From High-Level Reasoning to Low-Level Robot Execution and Back
- 2014
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Ingår i: Papers from the AAAI Spring Symposium. - : AAAI Press.
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Konferensbidrag (refereegranskat)abstract
- Robot ecologies are a growing paradigm in which oneor several robotic systems are integrated into a smartenvironment. Robotic ecologies hold great promises forelderly assistance. Planning the activities of these systems,however, is not trivial, and requires considerationof issues like temporal and information dependenciesamong different parts of the ecology, exogenous actions,and multiple, dynamic goals. We describe a plannerable to cope with the above challenges. We showin particular how this planner has been incorporatedin closed-loop into a full robotic system that performsdaily tasks in support of elderly people. The full robotecology is deployed in a test apartment inside a real residentialbuilding, and it is currently undergoing an extensiveuser evaluation.
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| 7. |
- Di Rocco, Maurizio, et al.
(författare)
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An efficient implementation of a particle filter for localization using compass data
- 2010
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Ingår i: 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010, Lecce, Italy.
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Konferensbidrag (refereegranskat)abstract
- This paper presents a localization algorithm for a small mobile platform. Taking advantage from modern technology, Saetta, a low cost mobile robot, has been built from scratch. Due to the limited processing capabilities, some ad hoc solutions have been used: the lack of processing resources has been compensated by an efficient implementation of the estimator and by the use of compass measures which ease the computational load. The results show how a careful design allows the implementation of sophisticated algorithms also on small platforms.
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| 8. |
- Di Rocco, Maurizio, 1982-, et al.
(författare)
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Configuration Planning with Multiple Dynamic Goals
- 2013
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Ingår i: Designing intelligent robots. - : AAAI Press. - 9781577356011 ; , s. 12-17
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Konferensbidrag (refereegranskat)abstract
- We propose an approach to configuration planning for robotic systems in which plans are represented as constraint networks and planning is defined as search in the space of such networks. The approach supports reasoning about time, resources, and information dependencies between actions. In addition, the system can leverage the flexibility of such networks at execution time to support dynamic goal posting and re-planning.
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