| 1. |
- 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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| 2. |
- 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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| 3. |
- 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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| 4. |
- Bruno, Barbara, et al.
(författare)
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Using fuzzy logic to enhance classification of human motion primitives
- 2014
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Ingår i: Information processing and management of uncertainty in knowledge-based systems, PT II. - Cham : Springer. - 9783319088549 - 9783319088556 ; , s. 596-605
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Konferensbidrag (refereegranskat)abstract
- The design of automated systems for the recognition of specific human activities is among the most promising research activities in Ambient Intelligence. The literature suggests the adoption of wearable devices, relying on acceleration information to model the activities of interest and distance metrics for the comparison of such models with the run-time data. Most current solutions do not explicitly model the uncertainty associated with the recognition, but rely on crisp thresholds and comparisons which introduce brittleness and inaccuracy in the system. We propose a framework for the recognition of simple activities in which recognition uncertainty is modelled using possibility distributions. We show that reasoning about this explicitly modelled uncertainty leads to a system with enhanced recognition accuracy and precision.
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| 5. |
- Cirillo, Marcello, 1978-, et al.
(författare)
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Human-aware planning for robots embedded in ambient ecologies
- 2012
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Ingår i: Pervasive and Mobile Computing. - : Elsevier. - 1574-1192 .- 1873-1589. ; 8:4, s. 542-561
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Tidskriftsartikel (refereegranskat)abstract
- We address the issue of human-robot cohabitation in smart environments. In particular, the presence of humans in a robot's work space has a profound influence on how the latter should plan its actions. We propose the use of Human-Aware Planning, an approach in which the robot exploits the capabilities of a sensor-rich environment to obtain information about the (current and future) activities of the people in the environment, and plans its tasks accordingly.Here, we formally describe the planning problem behind our approach, we analyze its complexity and we detail the algorithm of our planner. We then show two application scenarios that could benefit from the techniques described. The first scenario illustrates the applicability of human-aware planning in a domestic setting, while the second one illustrates its use for a robotic helper in a hospital. Finally, we present a five hour-long test run in a smart home equipped with real sensors, where a cleaning robot has been deployed and where a human subject is acting. This test run in a real setting is meant to demonstrate the feasibility of our approach to human-robot interaction.
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| 6. |
- Di Rocco, Maurizio, 1982-, et al.
(författare)
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Configuration Planning with Multiple Dynamic Goals
- 2013
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Ingår i: Designing intelligent robots. - : AAAI Press. - 9781577356011 ; , s. 12-17
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Konferensbidrag (refereegranskat)abstract
- We propose an approach to configuration planning for robotic systems in which plans are represented as constraint networks and planning is defined as search in the space of such networks. The approach supports reasoning about time, resources, and information dependencies between actions. In addition, the system can leverage the flexibility of such networks at execution time to support dynamic goal posting and re-planning.
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| 7. |
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| 8. |
- Galindo, Cipriano, et al.
(författare)
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Semantic norms for mobile robots : when the end does not justify the means
- 2012
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Ingår i: IFAC-PapersOnLine. - : Elsevier. - 2405-8963. ; 45:22, s. 84-89
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Tidskriftsartikel (refereegranskat)abstract
- This paper deals with the use of semantic knowledge to improve the intelligence and autonomous behavior of a mobile robot. A robot can exploit the semantics of its environment to infer new, implicit information. Another interesting possibility is to use semantics for detecting deviations between the real world and what is supposed to be ``normal''. For instance, normative semantic knowledge may state that towels should stay in the bathroom. If a robot detects a towel in the kitchen, it can react and decide to solve this inconsistency by bringing it to the bathroom. However not all ways to solve an inconsistency are acceptable: for instance, if the robot put the towel temporarily on a dirty sink in order to re-grasp it with the other arm, it would violate another norm -- namely, that towels should always stay on a clean surface. In this work we present an algorithm that detects and recovers from norm violations, according to a semantic representation of norms, and ensures the normative acceptability of the robot actions throughout execution.
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| 9. |
- Grosinger, Jasmin, 1984-, et al.
(författare)
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Find Out Why Reading This Paper is an Opportunity of Type Opp0
- 2014
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Ingår i: CogRob 2014.
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Konferensbidrag (refereegranskat)abstract
- Under what conditions should a cognitive robot act? How do we define “opportunities” for robot action? How can we characterize their properties? This paper offers an apparatus to frame thediscussion. Starting from a simple introductory example, we specifyan initial version of a formal framework of opportunity which relates current and future states and beneficial courses of action in a certain time horizon. An opportunity reasoning algorithm is presented,which opens up various new questions about the different types of opportunity and how to interleave opportunity reasoning and action execution. An implementation of this algorithm is tested in a simple experiment including a real mobile robot in a smart home environment and a user.
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| 10. |
- Grosinger, Jasmin, 1984-, et al.
(författare)
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Robots and Bananas : Exploring Deliberation in Cognitive Robots
- 2014
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Ingår i: AI and Robotics.
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Konferensbidrag (refereegranskat)abstract
- Under what conditions should a cognitive robot act? How do we define “opportunities” for robot action? How can we characterize their properties? In this po-sition paper, we offer an initial apparatus to formalize opportunities and to frame this discussion.
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