| 1. |
- 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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| 2. |
- 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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| 3. |
- 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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| 4. |
- Bouguerra, Abdelbaki, et al.
(författare)
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Active execution monitoring using planning and semantic knowledge
- 2007
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Ingår i: Proc. of the ICAPS Workshop on Planning and Plan Execution for Real-World Systems, Providence, RI, 2007. ; , s. 9-15
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- To cope with the dynamics and uncertainty inherent in real world environments, autonomous mobile robots need to perform execution monitoring for verifying that their plans are executed as expected. Domain semantic knowledge has lately been proposed as a source of information to derive and monitor implicit expectations of executing actions. For instance, when the robot moves into an office, it would expect to see a desk and a chair. Such expectations are checked using the immediately available perceptual information. We propose to extend the semantic knowledge-based execution monitoring to handle situations where some of the required information is missing. To this end, we use AI sensor-based planning to actively search for such information. We show how verifying execution expectations can be formulated and solved as a planning problem involving sensing actions. Our approach is illustrated by showing test scenarios run in an indoor environment using a mobile robot.
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| 5. |
- 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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| 6. |
- Bouguerra, Abdelbaki, et al.
(författare)
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Monitoring the execution of robot plans using semantic knowledge
- 2008
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Ingår i: Robotics and Autonomous Systems. - Amsterdam : North-Holland Publishing Co. - 0921-8890 .- 1872-793X. ; 56:11, s. 942-954
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Tidskriftsartikel (refereegranskat)abstract
- Even the best laid plans can fail, and robot plans executed in real world domains tend to do so often. The ability of a robot to reliably monitor the execution of plans and detect failures is essential to its performance and its autonomy. In this paper, we propose a technique to increase the reliability of monitoring symbolic robot plans. We use semantic domain knowledge to derive implicit expectations of the execution of actions in the plan, and then match these expectations against observations. We present two realizations of this approach: a crisp one, which assumes deterministic actions and reliable sensing, and uses a standard knowledge representation system (LOOM); and a probabilistic one, which takes into account uncertainty in action effects, in sensing, and in world states. We perform an extensive validation of these realizations through experiments performed both in simulation and on real robots.
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| 7. |
- Bouguerra, Abdelbaki, 1974-
(författare)
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Robust execution of robot task-plans : a knowledge-based approach
- 2008
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Autonomous mobile robots are being developed with the aim of accomplishing complex tasks in different environments, including human habitats as well as less friendly places, such as distant planets and underwater regions. A major challenge faced by such robots is to make sure that their actions are executed correctly and reliably, despite the dynamics and the uncertainty inherent in their working space. This thesis is concerned with the ability of a mobile robot to reliably monitor the execution of its plans and detect failures. Existing approaches for monitoring the execution of plans rely mainly on checking the explicit effects of plan actions, i.e., effects encoded in the action model. This supposedly means that the effects to monitor are directly observable, but that is not always the case in a real-world environment. In this thesis, we propose to use semantic domain-knowledge to derive and monitor implicit expectations about the effects of actions. For instance, a robot entering a room asserted to be an office should expect to see at least a desk, a chair, and possibly a PC. These expectations are derived from knowledge about the type of the room the robot is entering. If the robot enters a kitchen instead, then it should expect to see an oven, a sink, etc. The major contributions of this thesis are as follows. • We define the notion of Semantic Knowledge-based Execution Monitoring SKEMon, and we propose a general algorithm for it based on the use of description logics for representing knowledge. • We develop a probabilistic approach of semantic Knowledge-based execution monitoring to take into account uncertainty in both acting and sensing. Specifically, we allow for sensing to be unreliable and for action models to have more than one possible outcome. We also take into consideration uncertainty about the state of the world. This development is essential to the applicability of our technique, since uncertainty is a pervasive feature in robotics. • We present a general schema to deal with situations where perceptual information relevant to SKEMon is missing. The schema includes steps for modeling and generating a course of action to actively collect such information. We describe approaches based on planning and greedy action selection to generate the information-gathering solutions. The thesis also shows how such a schema can be applied to respond to failures occurring before or while an action is executed. The failures we address are ambiguous situations that arise when the robot attempts to anchor symbolic descriptions (relevant to a plan action) in perceptual information. The work reported in this thesis has been tested and verified using a mobile robot navigating in an indoor environment. In addition, simulation experiments were conducted to evaluate the performance of SKEMon using known metrics. The results show that using semantic knowledge can lead to high performance in monitoring the execution of robot plans.
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| 8. |
- Bouguerra, Abdelbaki, et al.
(författare)
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Semantic knowledge-based execution monitoring for mobile robots
- 2007
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Ingår i: 2007 IEEE international conference on robotics and automation (ICRA). - 1424406013 ; , s. 3693-3698
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Konferensbidrag (refereegranskat)abstract
- We describe a novel intelligent execution monitoring approach for mobile robots acting in indoor environments such as offices and houses. Traditionally, monitoring execution in mobile robotics amounted to looking for discrepancies between the model-based predicted state of executing an action and the real world state as computed from sensing data. We propose to employ semantic knowledge as a source of information to monitor execution. The key idea is to compute implicit expectations, from semantic domain information, that can be observed at run time by the robot to make sure actions are executed correctly. We present the semantic knowledge representation formalism, and how semantic knowledge is used in monitoring. We also describe experiments run in an indoor environment using a real mobile robot
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| 9. |
- Bouguerra, Abdelbaki, et al.
(författare)
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Situation assessment for sensor-based recovery planning
- 2006
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Ingår i: 17th European Conference on Artificial Intelligence (ECAI). - : IOS Press. - 1586036424 ; , s. 673-677
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Konferensbidrag (refereegranskat)abstract
- We present an approach for recovery from perceptual failures, or more precisely anchoring failures. Anchoring is the problem of connecting symbols representing objects to sensor data corresponding to the same objects. The approach is based on using planning, but our focus is not on the plan generation per se. We focus on the very important aspect of situation assessment and how it is carried out for recovering from anchoring failures. The proposed approach uses background knowledge to create hypotheses about world states and handles uncertainty in terms of probabilistic belief states. This work is relevant both from the perspective of developing the anchoring framework, and as a study in plan-based recovery from epistemic failures in mobile robots. Experiments on a mobile robot are shown to validate the applicability of the proposed approach.
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| 10. |
- Broxvall, Mathias, et al.
(författare)
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An ecological approach to odour recognition in intelligent environments
- 2006
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Ingår i: 2006 IEEE International Conference on Robotics and automation, ICRA 2006. - 0780395050 ; , s. 2066-2071
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Konferensbidrag (refereegranskat)abstract
- We present a new approach for odour detection and recognition based on a so-called PEIS-Ecology: a network of gas sensors and a mobile robot are integrated in an intelligent environment. The environment can provide information regarding the location of potential odour sources, which is then relayed to a mobile robot equipped with an electronic nose. The robot can then perform a more thorough analysis of the odour character. This is a novel approach which alleviates some the challenges in mobile olfaction techniques by single and embedded mobile robots. The environment also provides contextual information which can be used to constrain the learning of odours, which is shown to improve classification performance.
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