| 1. |
- 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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| 2. |
- 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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| 3. |
- 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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| 4. |
- 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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