| 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. |
- Alirezaie, Marjan, 1980-, et al.
(författare)
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Context Recognition : Towards Automatic Query Generation
- 2015
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Ingår i: Ambient Intelligence. - Cham : Springer. - 9783319260044 - 9783319260051 ; , s. 205-218
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Konferensbidrag (refereegranskat)abstract
- In this paper, we present an ontology-based approach in designing knowledge model for context recognition (CR) systems. The main focus in this paper is on the use of an ontology to facilitate the generation of user-based queries to the CR system. By leveraging from the ontology, users need not know about sensor details and the structure of the ontology in expressing queries related to events of interest. To validate the approach and demonstrate the flexibility of the ontology for query generation, the ontology has been integrated in two separate application domains. The first domain considers a health care system implemented for the GiraffPlus project where the query generation process is automated to request information about activities of daily living. The second application uses the same ontology for an air quality monitoring application in the home. Since these two systems are independently developed for different purposes, the ease of applying the ontology upon them can be considered as a credit for its generality.
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| 3. |
- Amato, Giuseppe, et al.
(författare)
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Robotic UBIquitous COgnitive Network
- 2012
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Ingår i: Ambient Intelligence. - Berlin, Heidelberg : Springer-Verlag New York. - 9783642287824 - 9783642287831 ; , s. 191-195
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Konferensbidrag (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 self-adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The EU FP7 project RUBICON develops self-sustaining learning solutions yielding cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, agent control systems, wireless sensor networks and machine learning. This paper briefly illustrates how these techniques are being extended, integrated, and applied to AAL applications.
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| 4. |
- Andreasson, Henrik, 1977-, et al.
(författare)
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Autonomous transport vehicles : where we are and what is missing
- 2015
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Ingår i: IEEE robotics & automation magazine. - 1070-9932 .- 1558-223X. ; 22:1, s. 64-75
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies.
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| 8. |
- Beetz, Michael, et al.
(författare)
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AI Reasoning Methods for Robotics
- 2016. - 2
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Ingår i: Springer Handbook of Robotics. - : Springer. - 9783319325521 ; , s. 329-356
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- Artificial intelligence (AI) reasoning technology involving, e.g., inference, planning, and learning, has a track record with a healthy number of successful applications. So can it be used as a toolbox of methods for autonomous mobile robots? Not necessarily, as reasoning on a mobile robot about its dynamic, partially known environment may differ substantially from that in knowledge-based pure software systems, where most of the named successes have been registered. Moreover, recent knowledge about the robot’s environment cannot be given a priori, but needs to be updated from sensor data, involving challenging problems of symbol grounding and knowledge base change. This chapter sketches the main robotics relevant topics of symbol-based AI reasoning. Basic methods of knowledge representation and inference are described in general, covering both logic and probability-based approaches. The chapter first gives a motivation by example, to what extent symbolic reasoning has the potential of helping robots perform in the first place. Then (Sect. 14.2), we sketch the landscape of representation languages available for the endeavor. After that (Sect. 14.3), we present approaches and results for several types of practical, robotics-related reasoning tasks, with an emphasis on temporal and spatial reasoning. Plan-based robot control is described in some more detail in Sect. 14.4. Section 14.5 concludes.
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| 9. |
- Benedetti, Marco, et al.
(författare)
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Anatomy of a scheduling competition
- 2007
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Ingår i: Proceedings of Workshop on Network Robot Systems at IROS'08.
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Konferensbidrag (refereegranskat)
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| 10. |
- 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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