| 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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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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| 3. |
- 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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| 4. |
- 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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| 5. |
- 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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| 6. |
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| 7. |
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| 8. |
- Dragone, Mauro, et al.
(författare)
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A cognitive robotic ecology approach to self-configuring and evolving AAL systems
- 2015
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Ingår i: Engineering applications of artificial intelligence. - : Pergamon-Elsevier Science. - 0952-1976 .- 1873-6769. ; 45, s. 269-280
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Tidskriftsartikel (refereegranskat)abstract
- Robotic ecologies are systems made out of several robotic devices, including mobile robots, wireless sensors and effectors embedded in everyday environments, where they cooperate to achieve complex tasks. This paper demonstrates how endowing robotic ecologies with information processing algorithms such as perception, learning, planning, and novelty detection can make these systems able to deliver modular, flexible, manageable and dependable Ambient Assisted Living (AAL) solutions. Specifically, we show how the integrated and self-organising cognitive solutions implemented within the EU project RUBICON (Robotic UBIquitous Cognitive Network) can reduce the need of costly pre-programming and maintenance of robotic ecologies. We illustrate how these solutions can be harnessed to (i) deliver a range of assistive services by coordinating the sensing & acting capabilities of heterogeneous devices, (ii) adapt and tune the overall behaviour of the ecology to the preferences and behaviour of its inhabitants, and also (iii) deal with novel events, due to the occurrence of new user's activities and changing user's habits.
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| 9. |
- Khaliq, Ali Abdul, 1987-, et al.
(författare)
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Stigmergic algorithms for multiple minimalistic robots on an RFID floor
- 2014
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Ingår i: Swarm Intelligence. - : Springer Science and Business Media LLC. - 1935-3820 .- 1935-3812. ; 8:3, s. 199-225
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Tidskriftsartikel (refereegranskat)abstract
- Stigmergy is a powerful principle in nature, which has been shown to have interesting applications to robotic systems. By leveraging the ability to store information in the environment, robots with minimal sensing, memory, and computational capabilities can solve complex problems like global path planning. In this paper, we discuss the use of stigmergy in minimalist multi-robot systems, in which robots do not need to use any internal model, long-range sensing, or position awareness. We illustrate our discussion with three case studies: building a globally optimal navigation map, building a gradient map of a sensed feature, and updating the above maps dynamically. All case studies have been implemented in a real environment with multiple ePuck robots, using a floor with 1,500 embedded radio frequency identification tags as the stigmergic medium. Results collected from tens of hours of real experiments and thousands of simulated runs demonstrate the effectiveness of our approach.
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| 10. |
- Khaliq, Ali Abdul, 1987-, et al.
(författare)
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Stigmergic Algorithms for Simple Robotic Devices (Extended abstract)
- 2013
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Ingår i: Workshop on Unconventional Approaches to Robotics, Automation and Control Inspired by Nature (ICRA 2013).
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Konferensbidrag (refereegranskat)abstract
- This position paper is meant to discuss the use of stigmergy in minimalist robotic systems, and to argue for a methodological approach based on the combination of formal analysis and empirical evaluation. In the full paper we will illustrate this approach in three case studies: building a globally optimal navigation map, building a gas concentration gradient map, and updating the above maps dynamically. All case studies have been implemented in a real environment with inexpensive robots, using an RFID floor as the stigmergic medium.
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