| 1. |
- Aydemir, Alper, et al.
(författare)
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Object search on a mobile robot using relational spatial information
- 2010
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Ingår i: Proc. of the 11th Int Conference on Intelligent Autonomous Systems (IAS-11). - Amsterdam : IOS Press. - 9781607506126 ; , s. 111-120
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Konferensbidrag (refereegranskat)abstract
- We present a method for utilising knowledge of qualitative spatial relations between objects in order to facilitate efficient visual search for those objects. A computational model for the relation is used to sample a probability distribution that guides the selection of camera views. Specifically we examine the spatial relation “on”, in the sense of physical support, and show its usefulness in search experiments on a real robot. We also experimentally compare different search strategies and verify the efficiency of so-called indirect search.
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| 2. |
- Aydemir, Alper, et al.
(författare)
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Plan-based Object Search and Exploration Using Semantic Spatial Knowledge in the Real World
- 2011
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Ingår i: Proc. of the European Conference on Mobile Robotics (ECMR'11).
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a principled planner based approach to the active visual object search problem in unknown environments. We make use of a hierarchical planner that combines the strength of decision theory and heuristics. Furthermore, our object search approach leverages on the conceptual spatial knowledge in the form of object cooccurences and semantic place categorisation. A hierarchical model for representing object locations is presented with which the planner is able to perform indirect search. Finally we present real world experiments to show the feasibility of the approach.
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| 3. |
- Aydemir, Alper, et al.
(författare)
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Search in the real world : Active visual object search based on spatial relations
- 2011
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Ingår i: IEEE International Conference on Robotics and Automation (ICRA), 2011. - : IEEE. - 9781612843865 ; , s. 2818-2824
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Konferensbidrag (refereegranskat)abstract
- Objects are integral to a robot’s understandingof space. Various tasks such as semantic mapping, pick-andcarrymissions or manipulation involve interaction with objects.Previous work in the field largely builds on the assumption thatthe object in question starts out within the ready sensory reachof the robot. In this work we aim to relax this assumptionby providing the means to perform robust and large-scaleactive visual object search. Presenting spatial relations thatdescribe topological relationships between objects, we thenshow how to use these to create potential search actions. Weintroduce a method for efficiently selecting search strategiesgiven probabilities for those relations. Finally we performexperiments to verify the feasibility of our approach.
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| 4. |
- Gálvez López, Dorian, et al.
(författare)
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Hybrid Laser and Vision Based Object Search and Localization
- 2008
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Ingår i: 2008 IEEE International Conference on Robotics and Automation. - 9781424416462 ; , s. 2636-2643
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Konferensbidrag (refereegranskat)abstract
- We describe a method for an autonomous robot to efficiently locate one or more distinct objects in a realistic environment using monocular vision. We demonstrate how to efficiently subdivide acquired images into interest regions for the robot to zoom in on, using receptive field cooccurrence histograms. Objects are recognized through SIFT feature matching and the positions of the objects are estimated. Assuming a 2D map of the robot's surroundings and a set of navigation nodes between which it is free to move, we show how to compute an efficient sensing plan that allows the robot's camera to cover the environment, while obeying restrictions on the different objects' maximum and minimum viewing distances. The approach has been implemented on a real robotic system and results are presented showing its practicability and the quality of the position estimates obtained.
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| 5. |
- Göbelbecker, M., et al.
(författare)
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A planning approach to active visual search in large environments
- 2011
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Ingår i: AAAI Workshop Tech. Rep.. - 9781577355250 ; , s. 8-13
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a principled planner based approach to the active visual object search problem in unknown environments. We make use of a hierarchical planner that combines the strength of decision theory and heuristics. Furthermore, our object search approach leverages on the conceptual spatial knowledge in the form of object co-occurrences and semantic place categorisation. A hierarchical model for representing object locations is presented with which the planner is able to perform indirect search. Finally we present real world experiments to show the feasibility of the approach.
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| 6. |
- Göbelbecker, Moritz, et al.
(författare)
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Dora: A Robot that Plans and Acts Under Uncertainty
- 2012
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Ingår i: Proceedings of the 35th German Conference on Artificial Intelligence (KI’12).
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Konferensbidrag (refereegranskat)abstract
- Dealing with uncertainty is one of the major challenges when constructing autonomous mobile robots. The CogX project addressed key aspects of that by developing and implementing mechanisms for self-understanding and self-extension -- i.e. awareness of gaps in knowledge, and the ability to reason and act to fill those gaps. We discuss our robot called Dora, a showcase outcome of that project. Dora is able to perform a variety of search tasks in unexplored environments. One of the results of the project is the Dora robot, that can perform a variety of search tasks in unexplored environments by exploiting probabilistic knowledge representations while retaining efficiency by using a fast planning system.
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| 7. |
- Hanheide, Marc, et al.
(författare)
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A Framework for Goal Generation and Management
- 2010
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Ingår i: Proceedings of the AAAI Workshop on Goal-Directed Autonomy.
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Konferensbidrag (refereegranskat)abstract
- Goal-directed behaviour is often viewed as an essential char- acteristic of an intelligent system, but mechanisms to generate and manage goals are often overlooked. This paper addresses this by presenting a framework for autonomous goal gener- ation and selection. The framework has been implemented as part of an intelligent mobile robot capable of exploring unknown space and determining the category of rooms au- tonomously. We demonstrate the efficacy of our approach by comparing the performance of two versions of our inte- grated system: one with the framework, the other without. This investigation leads us conclude that such a framework is desirable for an integrated intelligent system because it re- duces the complexity of the problems that must be solved by other behaviour-generation mechanisms, it makes goal- directed behaviour more robust in the face of a dynamic and unpredictable environments, and it provides an entry point for domain-specific knowledge in a more general system.
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| 8. |
- Hanheide, Marc, et al.
(författare)
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Robot task planning and explanation in open and uncertain worlds
- 2015
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Ingår i: Artificial Intelligence. - : Elsevier. - 0004-3702 .- 1872-7921.
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Tidskriftsartikel (refereegranskat)abstract
- A long-standing goal of AI is to enable robots to plan in the face of uncertain and incomplete information, and to handle task failure intelligently. This paper shows how to achieve this. There are two central ideas. The first idea is to organize the robot's knowledge into three layers: instance knowledge at the bottom, commonsense knowledge above that, and diagnostic knowledge on top. Knowledge in a layer above can be used to modify knowledge in the layer(s) below. The second idea is that the robot should represent not just how its actions change the world, but also what it knows or believes. There are two types of knowledge effects the robot's actions can have: epistemic effects (I believe X because I saw it) and assumptions (I'll assume X to be true). By combining the knowledge layers with the models of knowledge effects, we can simultaneously solve several problems in robotics: (i) task planning and execution under uncertainty; (ii) task planning and execution in open worlds; (iii) explaining task failure; (iv) verifying those explanations. The paper describes how the ideas are implemented in a three-layer architecture on a mobile robot platform. The robot implementation was evaluated in five different experiments on object search, mapping, and room categorization.
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| 9. |
- Hawes, Nick, et al.
(författare)
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Dora The Explorer : A Motivated Robot
- 2009
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Ingår i: Proc. of 9th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2010). ; , s. 1617-1618
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Konferensbidrag (refereegranskat)abstract
- Dora the Explorer is a mobile robot with a sense of curios- ity and a drive to explore its world. Given an incomplete tour of an indoor environment, Dora is driven by internal motivations to probe the gaps in her spatial knowledge. She actively explores regions of space which she hasn't previously visited but which she expects will lead her to further unex- plored space. She will also attempt to determine the cate- gories of rooms through active visual search for functionally important objects, and through ontology-driven inference on the results of this search.
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| 10. |
- Hawes, Nick, et al.
(författare)
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Planning and Acting with an Integrated Sense of Space
- 2009
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Ingår i: Proceedings of the 1st International Workshop on Hybrid Control of Autonomous Systems.
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Konferensbidrag (refereegranskat)abstract
- The paper describes PECAS, an architecture for intelligent systems, and its application in the Explorer, an interactive mobile robot. PECAS is a new architectural combination of information fusion and continual planning. PECAS plans, integrates and monitors the asynchronous flow of information between multiple concurrent systems. Information fusion provides a suitable intermediary to robustly couple the various reactive and deliberative forms of processing used concurrently in the Explorer. The Explorer instantiates PECAS around a hybrid spatial model combining SLAM, visual search, and conceptual inference. This paper describes the elements of this model, and demonstrates on an implemented scenario how PECAS provides means for flexible control.
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