| 1. |
- Abdul Khaliq, Ali, 1987-, et al.
(författare)
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Point-to-point safe navigation of a mobile robot using stigmergy and RFID technology
- 2016
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Ingår i: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781509037629 ; , s. 1497-1504
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Konferensbidrag (refereegranskat)abstract
- Reliable autonomous navigation is still a challenging problem for robots with simple and inexpensive hardware. A key difficulty is the need to maintain an internal map of the environment and an accurate estimate of the robot’s position in this map. Recently, a stigmergic approach has been proposed in which a navigation map is stored into the environment, on a grid of RFID tags, and robots use it to optimally reach predefined goal points without the need for internal maps. While effective,this approach is limited to a predefined set of goal points. In this paper, we extend this approach to enable robots to travel to any point on the RFID floor, even if it was not previously identified as a goal location, as well as to keep a safe distance from any given critical location. Our approach produces safe, repeatable and quasi-optimal trajectories without the use of internal maps, self localization, or path planning. We report experiments run in a real apartment equipped with an RFID floor, in which a service robot either reaches or avoids a user who wears slippers equipped with an RFID tag reader.
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| 2. |
- Amato, G., et al.
(författare)
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Robotic Ubiquitous Cognitive Ecology for Smart Homes
- 2015
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Ingår i: Journal of Intelligent and Robotic Systems. - : Springer. - 0921-0296 .- 1573-0409. ; 80, s. S57-S81
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Tidskriftsartikel (refereegranskat)abstract
- Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent-based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a proof of concept smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feedback received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work.
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| 3. |
- Bacciu, Davide, et al.
(författare)
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An ambient intelligence approach for learning in smart robotic environments
- 2019
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Ingår i: Computational intelligence. - : Wiley-Blackwell. - 0824-7935 .- 1467-8640. ; 35:4, s. 1060-1087
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Tidskriftsartikel (refereegranskat)abstract
- Smart robotic environments combine traditional (ambient) sensing devices and mobile robots. This combination extends the type of applications that can be considered, reduces their complexity, and enhances the individual values of the devices involved by enabling new services that cannot be performed by a single device. To reduce the amount of preparation and preprogramming required for their deployment in real-world applications, it is important to make these systems self-adapting. The solution presented in this paper is based upon a type of compositional adaptation where (possibly multiple) plans of actions are created through planning and involve the activation of pre-existing capabilities. All the devices in the smart environment participate in a pervasive learning infrastructure, which is exploited to recognize which plans of actions are most suited to the current situation. The system is evaluated in experiments run in a real domestic environment, showing its ability to proactively and smoothly adapt to subtle changes in the environment and in the habits and preferences of their user(s), in presence of appropriately defined performance measuring functions.
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| 4. |
- Besold, Tarek R., et al.
(författare)
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Anchoring Knowledge in Interaction : Towards a Harmonic Subsymbolic/Symbolic Framework and Architecture of Computational Cognition
- 2015
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Ingår i: Artificial General Intelligence (AGI 2015). - Cham : Springer. - 9783319213651 - 9783319213644 ; , s. 35-45
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Konferensbidrag (refereegranskat)abstract
- We outline a proposal for a research program leading to a new paradigm, architectural framework, and prototypical implementation, for the cognitively inspired anchoring of an agent's learning, knowledge formation, and higher reasoning abilities in real-world interactions: Learning through interaction in real-time in a real environment triggers the incremental accumulation and repair of knowledge that leads to the formation of theories at a higher level of abstraction. The transformations at this higher level filter down and inform the learning process as part of a permanent cycle of learning through experience, higher-order deliberation, theory formation and revision.The envisioned framework will provide a precise computational theory, algorithmic descriptions, and an implementation in cyber-physical systems, addressing the lifting of action patterns from the subsymbolic to the symbolic knowledge level, effective methods for theory formation, adaptation, and evolution, the anchoring of knowledge-level objects, realworld interactions and manipulations, and the realization and evaluation of such a system in different scenarios. The expected results can provide new foundations for future agent architectures, multi-agent systems, robotics, and cognitive systems, and can facilitate a deeper understanding of the development and interaction in human-technological settings.
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| 5. |
- Bidot, Julien, 1977-, et al.
(författare)
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Geometric backtracking for combined task and motion planning in robotic systems
- 2017
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Ingår i: Artificial Intelligence. - : Elsevier. - 0004-3702 .- 1872-7921. ; 247, s. 229-265
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Tidskriftsartikel (refereegranskat)abstract
- Planners for real robotic systems should not only reason about abstract actions, but also about aspects related to physical execution such as kinematics and geometry. We present an approach to hybrid task and motion planning, in which state-based forward-chaining task planning is tightly coupled with motion planning and other forms of geometric reasoning. Our approach is centered around the problem of geometric backtracking that arises in hybrid task and motion planning: in order to satisfy the geometric preconditions of the current action, a planner may need to reconsider geometric choices, such as grasps and poses, that were made for previous actions. Geometric backtracking is a necessary condition for completeness, but it may lead to a dramatic computational explosion due to the large size of the space of geometric states. We explore two avenues to deal with this issue: the use of heuristics based on different geometric conditions to guide the search, and the use of geometric constraints to prune the search space. We empirically evaluate these different approaches, and demonstrate that they improve the performance of hybrid task and motion planning. We demonstrate our hybrid planning approach in two domains: a real, humanoid robotic platform, the DLR Justin robot, performing object manipulation tasks; and a simulated autonomous forklift operating in a warehouse.
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| 6. |
- Bonaccorsi, Manuele, et al.
(författare)
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A cloud robotics solution to improve social assistive robots for active and healthy aging
- 2016
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Ingår i: International Journal of Social Robotics. - : Springer. - 1875-4791 .- 1875-4805. ; 8:3, s. 393-408
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Tidskriftsartikel (refereegranskat)abstract
- Technological innovation in robotics and ICT represents an effective solution to tackle the challenge of providing social sustainable care services for the ageing population. The recent introduction of cloud technologies is opening new opportunities for the provisioning of advanced robotic services based on the cooperation of a number of connected robots, smart environments and devices improved by the huge cloud computational and storage capability. In this context, this paper aims to investigate and assess the potentialities of a cloud robotic system for the provisioning of assistive services for the promotion of active and healthy ageing. The system comprised two different smart environments, located in Italy and Sweden, where a service robot is connected to a cloud platform for the provisioning of localization based services to the users. The cloud robotic services were tested in the two realistic environments to assess the general feasibility of the solution and demonstrate the ability to provide assistive location based services in a multiple environment framework. The results confirmed the validity of the solution but also suggested a deeper investigation on the dependability of the communication technologies adopted in such kind of systems.
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| 7. |
- Bonaccorsi, Manuele, et al.
(författare)
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Design of cloud robotic services for senior citizens to improve independent living in multiple environments
- 2015
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Ingår i: Intelligenza Artificiale. - : IOS Press. - 1724-8035. ; 9:1, s. 63-72
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Tidskriftsartikel (refereegranskat)abstract
- The paper proposed a cloud robotic solution for the healthcare management of senior citizens, to demonstrate the opportunity to remotely provide continuous assistive robotic services to a number of seniors regardless to their position in the monitored environment. In particular, a medication reminding, a remote home monitoring and an user indoor localization service were outsourced in the cloud and provided to the robots, users and caregivers on request. The proposed system was composed of a number of robotic agents distributed over two smart environments: a flat at the Domocasa Lab (Peccioli, IT) and a condominium at the Angen site of the Orebro science park (Orebro, SE). The cloud acquired data from remote smart environments and enabled the local robots to provide advanced assistive services to a number of users. The proposed smart environments were able to collect raw data for the environmental monitoring and the localization of the users by means of wireless sensors, and provide such data to the cloud. On the cloud, specific algorithms improved the local robots, by providing event scheduling to accomplish assistive services and situation awareness on the users position and environments’ status. The indoor user localization service, was provided by means of commercial and ad-hoc sensors distributed over the environments and a sensor fusion algorithm on the cloud. The entire cloud solution was evaluated in terms of Quality of Service (QoS) to estimate the effectiveness of the architecture.
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| 8. |
- Bruno, Barbara, et al.
(författare)
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A framework for Culture-aware Robots based on Fuzzy Logic
- 2017
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Ingår i: 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781509060344 - 9781509060351
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Konferensbidrag (refereegranskat)abstract
- Cultural adaptation, i.e., the matching of a robot's behaviours to the cultural norms and preferences of its user, is a well known key requirement for the success of any assistive application. However, culture-dependent robot behaviours are often implicitly set by designers, thus not allowing for an easy and automatic adaptation to different cultures. This paper presents a method for the design of culture-aware robots, that can automatically adapt their behaviour to conform to a given culture. We propose a mapping from cultural factors to related parameters of robot behaviours which relies on linguistic variables to encode heterogeneous cultural factors in a uniform formalism, and on fuzzy rules to encode qualitative relations among multiple variables. We illustrate the approach in two practical case studies.
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| 9. |
- Bruno, Barbara, et al.
(författare)
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Knowledge Representation for Culturally Competent Personal Robots : Requirements, Design Principles, Implementation, and Assessment
- 2019
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Ingår i: International Journal of Social Robotics. - : Springer. - 1875-4791 .- 1875-4805. ; 11:3, s. 515-538
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Tidskriftsartikel (refereegranskat)abstract
- Culture, intended as the set of beliefs, values, ideas, language, norms and customs which compose a person's life, is an essential element to know by any robot for personal assistance. Culture, intended as that person's background, can be an invaluable source of information to drive and speed up the process of discovering and adapting to the person's habits, preferences and needs. This article discusses the requirements posed by cultural competence on the knowledge management system of a robot. We propose a framework for cultural knowledge representation that relies on (i) a three-layer ontology for storing concepts of relevance, culture-specific information and statistics, person-specific information and preferences; (ii) an algorithm for the acquisition of person-specific knowledge, which uses culture-specific knowledge to drive the search; (iii) a Bayesian Network for speeding up the adaptation to the person by propagating the effects of acquiring one specific information onto interconnected concepts. We have conducted a preliminary evaluation of the framework involving 159 Italian and German volunteers and considering 122 among habits, attitudes and social norms.
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| 10. |
- Bruno, Barbara, et al.
(författare)
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Multi-modal sensing for human activity recognition
- 2015
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Ingår i: Proceedings of the 24th IEEE International Symposium on Robot and Human Interactive Communication, Kobe, Japan, Aug 31 - Sept 4, 2015. - New York : IEEE conference proceedings. - 9781467367042 ; , s. 594-600
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Konferensbidrag (refereegranskat)abstract
- Robots for the elderly are a particular category of home assistive robots, aiming at assisting the elderly inthe execution of daily life tasks to extend their independent life. To this aim, such robots should be able to determine the level of independence of the user and track its evolution over time, to adapt the assistance to the person capabilities and needs. Human Activity Recognition systems employ various sensing strategies, relying on environmental or wearable sensors,to recognize various daily life activities which provide insights on the health status of a person. The main contribution of the article is the design of an heterogeneous information management framework, allowing for the description of a wide variety of human activities in terms of multi-modal environmental and wearable sensing data and providing accurate knowledge about the user activity to any assistive robot.
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