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Article Self-Organized Multi-Camera Network for a Fast and Easy Deployment of Ubiquitous Robots in Unknown Environments
, 2012
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Planning for Decentralized Control of Multiple Robots Under Uncertainty
"... We describe a probabilistic framework for synthesizing con-trol policies for general multi-robot systems, given environ-ment and sensor models and a cost function. Decentral-ized, partially observable Markov decision processes (Dec-POMDPs) are a general model of decision processes where a team of ag ..."
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We describe a probabilistic framework for synthesizing con-trol policies for general multi-robot systems, given environ-ment and sensor models and a cost function. Decentral-ized, partially observable Markov decision processes (Dec-POMDPs) are a general model of decision processes where a team of agents must cooperate to optimize some objective (specified by a shared reward or cost function) in the presence of uncertainty, but where communication limitations mean that the agents cannot share their state, so execution must proceed in a decentralized fashion. While Dec-POMDPs are typically intractable to solve for real-world problems, recent research on the use of macro-actions in Dec-POMDPs has significantly increased the size of problem that can be prac-tically solved as a Dec-POMDP. We describe this general model, and show how, in contrast to most existing methods that are specialized to a particular problem class, it can syn-thesize control policies that use whatever opportunities for coordination are present in the problem, while balancing off uncertainty in outcomes, sensor information, and information about other agents. We use three variations on a warehouse task to show that a single planner of this type can generate cooperative behavior using task allocation, direct communi-cation, and signaling, as appropriate.
Housekeeping with Multiple Autonomous Robots: Representation, Reasoning and Execution
"... We formalize actions and change in a housekeeping domain with multiple cleaning robots, and commonsense knowledge about this domain, in the action language C+. Geometric reasoning is lifted to high-level representation by embedding motion planning in the domain description using external predicates. ..."
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We formalize actions and change in a housekeeping domain with multiple cleaning robots, and commonsense knowledge about this domain, in the action language C+. Geometric reasoning is lifted to high-level representation by embedding motion planning in the domain description using external predicates. With such a formalization of the domain, a plan can be computed using the causal reasoner CCALC for each robot to tidy some part of the house. We introduce a planning and monitoring algorithm for safe execution of these plans, so that it can recover from plan failures due to collision with movable objects whose presence and location are not known in advance or due to heavy objects that cannot be lifted alone. We illustrate the applicability of this algorithm with a simulation of a housekeeping domain. 1
1 Robots that change their world: Inferring Goals from Semantic Knowledge
"... Abstract—A growing body of literature shows that endowing a mobile robot with semantic knowledge, and with the ability to reason from this knowledge, can greatly increase its capabilities. In this paper, we explore a novel use of semantic knowledge: we encode information about how things should be, ..."
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Abstract—A growing body of literature shows that endowing a mobile robot with semantic knowledge, and with the ability to reason from this knowledge, can greatly increase its capabilities. In this paper, we explore a novel use of semantic knowledge: we encode information about how things should be, or norms, to allow the robot to infer deviations from these norms and to generate goals to correct these deviations. For instance, if a robot has semantic knowledge that perishable items must be kept in a refrigerator, and it observes a bottle of milk on a table, this robot will generate the goal to bring that bottle into a refrigerator. Our approach provides a mobile robot with a limited form of goal autonomy: the ability to derive its own goals to pursue generic aims. We illustrate our approach in a full mobile robot system that integrates a semantic map, a knowledge representation and reasoning system, a task planner, as well as standard perception and navigation routines.
THE CONCEPT OF PEIS-ECOLOGY: INTEGRATING ROBOTS IN SMART ENVIRONMENTS
"... The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. In this note I introduce this concept, summarize it ..."
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The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. In this note I introduce this concept, summarize its main technological aspects, and speculate on its potential impact for space exploration. 1.
Personalized Guided Tour by Multiple Robots through Semantic Profile Definition and Dynamic Redistribution of Participants
- in Proceedings of the 8th International Cognitive Robotics Workshop at AAAI-12
, 2012
"... Existing robot guides are able to offer a tour of a building, such as a museum, bank, science center, to a single person or to a group of participants. Usually the tours are predefined and there is no support for dynamic interactions between multiple robots. This paper focuses on distributed collabo ..."
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Existing robot guides are able to offer a tour of a building, such as a museum, bank, science center, to a single person or to a group of participants. Usually the tours are predefined and there is no support for dynamic interactions between multiple robots. This paper focuses on distributed collaboration between several robot guides providing a building tour to groups of participants. Semantic techniques are adopted in order to formally define the tour topics, available content on a specific topic, and the robot and human profiles including their interests and content knowledge. The robot guides select different topics depending on their participants ’ interests and prior knowledge. Optimization of the topics of interests is achieved through exchange of participants between the robot guides whenever in each others neighborhood. Evaluation of the implemented algorithms presents a 90 % content coverage of relevant topics for the individual participants.
Heterogeneous Context-aware Robots Providing a Personalized Building Tour
"... Abstract Existing robot guides offer a tour of a building, such as a museum, science centre, to one or more visitors. Usually the tours are predefined and lack support for dynamic interactions between the different robots. This paper focuses on the distributed collaboration of multiple heterogeneous ..."
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Abstract Existing robot guides offer a tour of a building, such as a museum, science centre, to one or more visitors. Usually the tours are predefined and lack support for dynamic interactions between the different robots. This paper focuses on the distributed collaboration of multiple heterogeneous robots (receptionist, companion) guiding visitors through a building. Semantic techniques support the formal definition of tour topics, available content on a specific topic, and the robot and person profiles including interests and acquired knowledge. The robot guides select topics depending on their participants' interests and prior knowledge. Whenever in each other’s neighbourhood, the guides automatically exchange participants optimizing the amount of interesting topics. Robot collaboration is realized through the development of a software module that allows a robot to transparently include behaviours performed by other robots into its own set of behaviours. The multi-robot visitors guide application is integrated into an extended distributed heterogeneous robot team, using a receptionist robot that was not originally designed to cooperate with the guides. Evaluation of the implemented algorithms presents a 90% content coverage of relevant topics for the participants. Keywords Semantic Web, Multi-robot interaction, Context-awareness, Task transparency, Robot behaviour
International Journal of Advanced Robotic Systems ARTICLE Heterogeneous Context-Aware Robots Providing a Personalized Building Tour Regular Paper
"... This is an open access article distributed under the terms of the Creative ..."
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This is an open access article distributed under the terms of the Creative
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"... IOS Press A constraint-based approach for proactive, context-aware human support ..."
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IOS Press A constraint-based approach for proactive, context-aware human support
IOS Press A Constraint-Based Approach for Proactive,
"... Abstract. In this article we address the problem of realizing a service-providing reasoning infrastructure for pro-active human assistance in intelligent environments. We propose SAM, an architecture which leverages temporal knowledge represented as relations in Allen’s interval algebra and constrai ..."
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Abstract. In this article we address the problem of realizing a service-providing reasoning infrastructure for pro-active human assistance in intelligent environments. We propose SAM, an architecture which leverages temporal knowledge represented as relations in Allen’s interval algebra and constraint-based temporal planning techniques. SAM provides two key capabilities for contextualized service provision: human activity recognition and planning for controlling pervasive actuation devices. While drawing inspiration from several state-of-the-art approaches, SAM provides a unique feature which has thus far not been addressed in the literature, namely the seamless integration of these two key capabilities. It does so by leveraging a constraint-based reasoning paradigm whereby both requirements for recognition and for planning/execution are represented as constraints and reasoned upon continuously.
