| 1. |
- Bouguerra, Abdelbaki, et al.
(författare)
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Handling uncertainty in semantic-knowledge based execution monitoring
- 2007
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Ingår i: IEEE/RSJ international conference on intelligent robots and systems, IROS 2007 San Diego, CA, 2007. - New York : IEEE. - 9781424409129 ; , s. 437-443
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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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| 2. |
- Broxvall, Mathias, et al.
(författare)
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Interacting with a robot ecology using task templates
- 2007
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Ingår i: 16th IEEE international symposium on robot and human interactive communication, RO-MAN 2007. - New York : IEEE. - 9781424416349 ; , s. 487-492
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Konferensbidrag (refereegranskat)abstract
- Robot ecologies provide a new paradigm for assistive, service, industrial, and entertainment robotics which is quickly gaining popularity. These ecologies contain a large number of robotic components pervasively embedded in the environment and interacting with each other. Human users of such systems need to be able to interface with both the system as a w hole and, if desired, which each individual component. The humans should be able to transmit, in a natural way, commands that range from basic ones, such as "turn on the lights in the bedroom", to abstract ones, such as "bring me a cup of coffee". Human users may also need to interact with task execution, especially at decision points. In this paper, we introduce an approach to interface a human user to a specific type of robot ecology, called an ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology. The ecology includes simple sensors and actuators and more complicated devices such as mobile robots. The proposed interface satisfies two requirements: 1) to easily and automatically generate component interfaces, and 2) to provide a simple mechanism by which to request and monitor the execution of tasks in the ecology.
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| 3. |
- Guarino, Donatella, et al.
(författare)
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Monitoring the state of a ubiquitous robotic system : A fuzzy logic approach
- 2007
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Ingår i: 2007 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-4. - New York : IEEE. - 9781424412099 - 1424412099 ; , s. 1902-1907
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Konferensbidrag (refereegranskat)abstract
- A trend is emerging in the fields of ambient intelligence (AmI) and autonomous robotics, which points in the direction of a merger between these two fields. The inclusion of robotic devices in AmI system, sometimes named ubiquitous robotics, makes one of the hard problems in this field even harder: how can we provide a comfortable, natural interface between the everyday user and a complex system which consists of a large multitude of highly heterogeneous devices? In this paper, we address a specific, important aspect of this problem: to monitor the state of the ubiquitous system by the user of the system. The solution that we propose is based on two mechanisms: an expression-based semantics to represent in a uniform way the status of heterogeneous devices; and a common interface point to aggregate the information from all devices into a summary status presented to the user. For both mechanisms, we propose to use the tools of fuzzy logic. We justify this choice by arguments grounded in the semantics and formal properties of fuzzy logic. We also illustrate our approach on a specific type of ubiquitous robotic system called Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology.
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| 4. |
- Lundh, Robert, et al.
(författare)
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Automatic configuration of multi-robot systems : planning for multiple steps
- 2008
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Ingår i: Proceeding of the 2008 conference on ECAI 2008. - Amsterdam : IOS Press. - 9781586038915 ; , s. 616-620
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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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| 5. |
- Lundh, Robert, et al.
(författare)
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Dynamic self-configuration of an ecology of robots
- 2007
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Ingår i: IEEE/RSJ international conference on intelligent robots and systems, 2007. IROS 2007. - NEW YORK : IEEE. - 9781424409129 ; , s. 3403-3409
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Konferensbidrag (refereegranskat)abstract
- There is a tendency today toward the study of distributed systems consisting of many heterogeneous, networked, cooperating robotic devices. We refer to a system of this type as an ecology of robots. We call functional configuration of this ecology a way to allocate and connect functionalities among its robots. In general, the same ecology can perform different tasks by using different configuration. Moreover, the same task can often be solved using different configurations, and which is the best one depends on the available resources. This potential flexibility of a robot ecology is reduced by the fact that, in most current approaches, configurations are pre-programmed by hand. In this paper, we propose a plan-based approach to automatically generate a preferred configuration of a robot ecology given a task, environment, and set of resources. In contrast to previous approaches, the state of the ecology isautomatically acquired at planning time, and it is monitored during execution in order to reconfigure if a functionality fails. We illustrate these ideas on a specific instance of an ecology of robots, called PEIS Ecology. We also show an experiment run on our PEIS Ecology testbed, in which a robot needs to reconfigure when the original configuration fails.
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| 6. |
- Saffiotti, Alessandro, et al.
(författare)
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Affordances in an ecology of physically embedded intelligent systems
- 2008
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Ingår i: Towards affordance-based robot control. - Berlin : Springer. - 9783540779148 - 9783540779155 ; , s. 106-121
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights fromthe fields of autonomous robotics and ambient intelligence to provide a new solution to building intelligent robotic systems in the service of people. The concept of PEIS- Ecology also offers an interesting setting to study the applicability of Gibson's notion of affordances to an ecology of robots. In this paper we introduce this concept, and discuss its potential and implications both from an application point of view and from an ecological (Gibsonian) point of view. We also discuss some new scientific challenges introduced by a Peis- Ecology, present our current steps toward its realization, and point at a few experimental results that show the viability of this concept.
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| 7. |
- Saffiotti, Alessandro, et al.
(författare)
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The PEIS-ecology project : a progress report
- 2007
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Ingår i: Proceedings of the ICRA-07 Workshop on Network Robot Systems. Roma, Italy, 2007. ; , s. 16-22
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Konferensbidrag (refereegranskat)abstract
- The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. While this concept provides great potential, it also presents a number of new scientific challenges. The PEIS-Ecology project is an ongoing collaborative project between Swedish and Korean researchers which addresses these challenges. In this paper we introduce the concept of PEIS-Ecology, discuss its potential and its challenges, and present our current steps toward its realization. We also point to experimental results that show the viability of this concept.
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| 8. |
- Bordignon, Mirko, et al.
(författare)
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An inexpensive, off-the-shelf platform for networked embedded robotics
- 2007
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Ingår i: Proceedings of the 1st international conference on Robot communication and coordination, RoboComm '07. - Piscataway : IEEE press. - 9789639799080 ; , s. Art no: 45-
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Konferensbidrag (refereegranskat)abstract
- Recent years have witnessed the proliferation of a new class of devices, commonly referred to as Networked Embedded Devices. Their increasingly low cost and small size make them suited for large scale sensing applications. Likewise, they could be appealing as a means to embed intelligent actuation capabilities into the environment, turning simple artifacts into networked robotic appliances. The currently existing devices, however, are not suited for this development. In this paper, we present the PEIS-Mote: an open, general, small-size and inexpensive sensor-actuator node especially suited for networked robotics, and built from commonly available off-the-shelf components. This platform can run a popular operating system for sensor networks, TinyOS, which makes it interoperable with most commercially available sensor nodes.
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| 9. |
- Bordignon, Mirko, et al.
(författare)
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Seamless integration of robots and tiny embedded devices in a PEIS-ecology
- 2007
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Ingår i: IEEE/RSJ international conference on intelligent robots and systems, IROS 2007. - New York : IEEE. - 9781424409129 ; , s. 3101-3106
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Konferensbidrag (refereegranskat)abstract
- The fields of autonomous robotics and ambient intelligence are converging toward the vision of smart robotic environments, in which tasks are performed via the cooperation of many networked robotic devices. To enable this vision, we need a common communication and cooperation model that can be shared between robotic devices at different scales, ranging from standard mobile robots to tiny embedded devices. Unfortunately, today's robot middlewares are too heavy to run on tiny devices, and middlewares for embedded devices are too simple to support the cooperation models needed by an autonomous smart environment. In this paper, we propose a middleware model which allows the seamless integration of standard robots and simple off-the-shelf embedded devices. Our middleware is suitable for building truly ubiquitous robotics applications, in which devices of very different scales and capabilities can cooperate in a uniform way. We discuss the principles and implementation of our middleware, and show an experiment in which a mobile robot, a commercial mote, and a custom-built mote cooperate in a home service scenario.
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| 10. |
- Borissov, Alexei, et al.
(författare)
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Towards a network robot system for object identification and localization in RoboCup@Home
- 2008
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Ingår i: Proceedings of Workshop on Network Robot Systems at IROS'08.
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Konferensbidrag (refereegranskat)abstract
- This paper describes a realization of a network robot system for autonomous object localization and identification. Developing a ``Lost \& Found'' capability, the use of which can be envisaged in a wide range of applicative domains including domestic assistive scenarios, is a challenging task for current AI and robotic technology. Indeed, this task is currently one of the core challenges within the RoboCup@Home competition. A number of approaches for implementing a robust and general Lost \& Found functionality are feasible. In this paper we present a solution which integrates state-of-the-art intelligent software, robotic and sensory components in a distributed network of cooperating modules. This article describes the design and implementation of the system, provides a preliminary experimental evaluation and discusses the applicability of our approach to the RoboCup@Home challenge.
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