| 1. |
- Khaliq, Ali Abdul, 1987-, et al.
(författare)
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Culturally aware Planning and Execution of Robot Actions
- 2018
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Ingår i: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : IEEE. - 9781538680940 - 9781538680957 ; , s. 326-332
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Konferensbidrag (refereegranskat)abstract
- The way in which humans behave, speak andinteract is deeply influenced by their culture. For example,greeting is done differently in France, in Sweden or in Japan;and the average interpersonal distance changes from onecultural group to the other. In order to successfully coexistwith humans, robots should also adapt their behavior to theculture, customs and manners of the persons they interact with.In this paper, we deal with an important ingredient of culturaladaptation: how to generate robot plans that respect givencultural preferences, and how to execute them in a way thatis sensitive to those preferences. We present initial results inthis direction in the context of the CARESSES project, a jointEU-Japan effort to build culturally competent assistive robots.
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| 2. |
- Khaliq, Ali Abdul, 1987-
(författare)
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From Ants to Service Robots : an Exploration in Stigmergy-Based Navigation Algorithms
- 2018
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Navigation is a core functionality of mobile robots. To navigate autonomously, a mobile robot typically relies on internal maps, self-localization, and path planning. Reliable navigation usually comes at the cost of expensive sensors and often requires significant computational overhead.Many insects in nature perform robust, close-to-optimal goal directed navigation without having the luxury of sophisticated sensors, powerful computational resources, or even an internally stored map. They do so by exploiting a simple but powerful principle called stigmergy: they use their environment as an external memory to store, read and share information. In this thesis, we explore the use of stigmergy as an alternative route to realize autonomous navigation in practical robotic systems.In our approach, we realize a stigmergic medium using RFID (Radio Frequency Identification) technology by embedding a grid of read-write RFID tags in the floor. A set of mobile robots, then, build and store maps used for navigation in the stigmergic medium itself. These maps are of three types: (1) goal maps which guide robots to known locations; (2) clearance maps which help robots avoid obstacles; (3) feature maps which can be used to store observable properties, such as light intensity or gas concentration. We show how these maps can be built both in static and in dynamic environments and used for navigation of heterogeneous robots. We also show that goal maps can be used for navigation to previously unknown and/or dynamic locations, and that feature maps can be used to navigate towards specific features, e.g., places with high gas concentration that are beyond the sensor’s range. We address the issue of perceptual errors (e.g., broken tags) during navigation. We further study the use of the built navigation maps to enable different types of human-aware robot navigation on the RFID floor.We define several stigmergic algorithms for building maps and navigating on these maps. We formally analyse the properties of the main algorithms, and empirically evaluate all the algorithms both in simulation and with multiple physical robots. Results collected from tens of hours of real experiments and thousands of simulated runs demonstrate the effectiveness of our approach.
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| 3. |
- Köckemann, Uwe, 1983-, et al.
(författare)
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Domain Reasoning for Robot Task Planning : A Position Paper
- 2018
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Ingår i: PlanRob 2018. - : ICAPS. ; , s. 102-105
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Konferensbidrag (refereegranskat)abstract
- In this position paper we argue for moving towards generalpurpose domains to promote the usage of task planning forreal-world robot systems. Planning approaches should extractconcrete domains based on their current context in order tosolve problems. Towards this aim, we define the problem ofdomain reasoning, by which a planning domain is obtainedfrom a more general, multi-purpose domain definition, giventhe current deployment and context of the robot system. Weprovide examples motivating the need for domain reasoningin robot task planning, as well as a discussion of potentialsolutions to the domain reasoning problem.
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| 4. |
- Menicatti, Roberto, et al.
(författare)
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Collaborative Development Within a Social Robotic, Multi-Disciplinary Effort : the CARESSES Case Study
- 2018
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Ingår i: 2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO). - : IEEE. - 9781538680377 ; , s. 117-124
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Konferensbidrag (refereegranskat)abstract
- In many cases, complex multidisciplinary research projects may show a lack of coordinated development and integration, and a big effort is often required in the final phase of the projects in order to merge software developed by heterogeneous research groups. This is particularly true in advanced robotic projects: the objective here is to deliver a system that integrates all the hardware and software components, is capable of autonomous behaviour, and needs to be deployed in real-world scenarios toward providing an impact on future research and, ultimately, on society. On the other hand, in recent years there has been a growing interest for techniques related to software integration, but these have been mostly applied to the IT commercial domain.This paper presents the work performed in the context of the project CARESSES, a multidisciplinary research project focusing on socially assistive robotics that involves 9 partners from the EU and Japan. Given the complexity of the project, a huge importance has been placed on software integration, task planning and architecture definition since the first stages of the work: to this aim, some of the practices commonly used in the commercial domain for software integration, such as merging software from the early stage, have been applied. As a case study, the document describes the steps which have been followed in the first year of the project discussing strengths and weaknesses of this approach.
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