oru.sePublications
Change search
Link to record
Permanent link

Direct link
BETA
Publications (10 of 95) Show all publications
Pecora, F., Andreasson, H., Mansouri, M. & Petkov, V. (2018). A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control. In: : . Paper presented at International Conference on Automated Planning and Scheduling (ICAPS 2018), Delft, The Netherland, June 24-29, 2018.
Open this publication in new window or tab >>A Loosely-Coupled Approach for Multi-Robot Coordination, Motion Planning and Control
2018 (English)Conference paper, Published paper (Refereed)
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-64721 (URN)
Conference
International Conference on Automated Planning and Scheduling (ICAPS 2018), Delft, The Netherland, June 24-29, 2018
Projects
Semantic RobotsILIAD
Funder
Knowledge Foundation, 20140033EU, Horizon 2020, 732737
Available from: 2018-01-31 Created: 2018-01-31 Last updated: 2018-06-11Bibliographically approved
Grosinger, J., Pecora, F. & Saffiotti, A. (2018). Robots that Maintain Equilibrium: Proactivity by Reasoning About User Intentions and Preferences. Pattern Recognition Letters
Open this publication in new window or tab >>Robots that Maintain Equilibrium: Proactivity by Reasoning About User Intentions and Preferences
2018 (English)In: Pattern Recognition Letters, ISSN 0167-8655, E-ISSN 1872-7344Article in journal (Refereed) Epub ahead of print
Abstract [en]

Robots need to exhibit proactive behavior if they are to be accepted in human-centered environments. A proactive robot must reason about the actions it can perform, the state of the environment, the state and the intentions of its users, and what the users deem desirable. This paper proposes a computational framework for proactive robot behavior that formalizes the above ingredients. The framework is grounded on the notion of Equilibrium Maintenance: current and future states are continuously evaluated to identify opportunities for acting that steer the system into more desirable states. We show that this process leads a robot to proactively generate its own goals and enact them, and that the obtained behavior depends on a model of user intentions, preferences, and the temporal horizon used in prediction. A number of examples show that our framework accounts for even slight variations in user preference models and perceived user intentions. We also show how the level of informedness of the system is easily customizable.

Place, publisher, year, edition, pages
Elsevier, 2018
Keywords
Robot proactivity, Equilibrium maintenance, Goal reasoning, Fuzzy models
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-65667 (URN)10.1016/j.patrec.2018.05.014 (DOI)
Available from: 2018-03-12 Created: 2018-03-12 Last updated: 2018-09-14Bibliographically approved
Bruno, B., Mastrogiovanni, F., Pecora, F., Sgorbissa, A. & Saffiotti, A. (2017). A framework for Culture-aware Robots based on Fuzzy Logic. In: 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE): . Paper presented at IEEE International Conference on Fuzzy Systems (FUZZ 2017), Royal Continental Hotel, Naples, Italy, July 9-12, 2017. Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>A framework for Culture-aware Robots based on Fuzzy Logic
Show others...
2017 (English)In: 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Institute of Electrical and Electronics Engineers (IEEE), 2017Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017
Series
IEEE International Conference on Fuzzy Systems, E-ISSN 1098-7584
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-62924 (URN)10.1109/FUZZ-IEEE.2017.8015750 (DOI)000426449100365 ()2-s2.0-85030179964 (Scopus ID)9781509060344 (ISBN)9781509060351 (ISBN)
Conference
IEEE International Conference on Fuzzy Systems (FUZZ 2017), Royal Continental Hotel, Naples, Italy, July 9-12, 2017
Funder
EU, Horizon 2020, 737858
Note

Funding Agencies:

Fondazione/Stiftelsen C.M. Lerici  

Italian Ministry of Foreign Affairs and International Cooperation (MAECI)  

Italian Ministry of Education, Universities and Research (MIUR)  PGR00193 

Available from: 2017-12-01 Created: 2017-12-01 Last updated: 2018-03-21Bibliographically approved
Renoux, J., Alirezaie, M., Karlsson, L., Köckemann, U., Pecora, F. & Loutfi, A. (2017). Context Recognition in Multiple Occupants Situations: Detecting the Number of Agents in a Smart Home Environment with Simple Sensors. In: Knowledge-based techniques for problem solving and reasoning(KnowProS 2017): A workshop at AAAI 2017, February 5, 2017, San Francisco, U.S.A.. Paper presented at Workshop on Knowledge-Based Techniques for Problem Solving and Reasoning (KnowProS’17) (pp. 758-764). Palo Alto: AAAI Press, ws17, Article ID WS-17-12.
Open this publication in new window or tab >>Context Recognition in Multiple Occupants Situations: Detecting the Number of Agents in a Smart Home Environment with Simple Sensors
Show others...
2017 (English)In: Knowledge-based techniques for problem solving and reasoning(KnowProS 2017): A workshop at AAAI 2017, February 5, 2017, San Francisco, U.S.A., Palo Alto: AAAI Press, 2017, Vol. ws17, p. 758-764, article id WS-17-12Conference paper, Published paper (Refereed)
Abstract [en]

Context-recognition and activity recognition systems in multi-user environments such as smart homes, usually assume to know the number of occupants in the environment. However, being able to count the number of users in the environment is important in order to accurately recognize the activities of (groups of) agents. For smart environments without cameras, the problem of counting the number of agents is non-trivial. This is in part due to the difficulty of using a single non-vision based sensors to discriminate between one or several persons, and thus information from several sensors must be combined in order to reason about the presence of several agents. In this paper we address the problem of counting the number of agents in a topologically known environment using simple sensors that can indicate anonymous human presence. To do so, we connect an ontology to a probabilistic model (a Hidden Markov Model) in order to estimate the number of agents in each section of the environment. We evaluate our methods on a smart home setup where a number of motion and pressure sensors are distributed in various rooms of the home.

Place, publisher, year, edition, pages
Palo Alto: AAAI Press, 2017
Series
The Workshops of the Thirty-First AAAI Conference on Artificial Intelligence: Technical Reports WS-17-01 - WS-17-15
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-62763 (URN)9781577357865 (ISBN)1577357868 (ISBN)
Conference
Workshop on Knowledge-Based Techniques for Problem Solving and Reasoning (KnowProS’17)
Available from: 2017-11-22 Created: 2017-11-22 Last updated: 2018-01-26Bibliographically approved
Mansouri, M., Lagriffoul, F. & Pecora, F. (2017). Multi Vehicle Routing with Nonholonomic Constraints and Dense Dynamic Obstacles. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2017), Vancouver, BC, Canada, September 24-28, 2017 (pp. 3522-3529). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Multi Vehicle Routing with Nonholonomic Constraints and Dense Dynamic Obstacles
2017 (English)In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 3522-3529Conference paper, Published paper (Refereed)
Abstract [en]

We introduce a variant of the multi-vehicle routing problem which accounts for nonholonomic constraints and dense, dynamic obstacles, called MVRP-DDO. The problem is strongly motivated by an industrial mining application. This paper illustrates how MVRP-DDO relates to other extensions of the vehicle routing problem. We provide an application-independent formulation of MVRP-DDO, as well as a concrete instantiation in a surface mining application. We propose a multi-abstraction search approach to compute an executable plan for the drilling operations of several machines in a very constrained environment. The approach is evaluated in terms of makespan and computation time, both of which are hard industrial requirements.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017
Series
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-63515 (URN)10.1109/IROS.2017.8206195 (DOI)000426978203076 ()2-s2.0-85041951034 (Scopus ID)978-1-5386-2682-5 (ISBN)978-1-5386-2683-2 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2017), Vancouver, BC, Canada, September 24-28, 2017
Projects
Semantic Robots
Funder
Knowledge Foundation, 20140033
Note

Funding Agency:

Atlas Copco Rock Drills AB

Available from: 2017-12-21 Created: 2017-12-21 Last updated: 2018-06-11Bibliographically approved
Bruno, B., Chong, N. Y., Kamide, H., Kanoria, S., Lee, J., Lim, Y., . . . Sgorbissa, A. (2017). Paving the Way for Culturally Competent Robots: a Position Paper. In: Howard, A; Suzuki, K; Zollo, L (Ed.), 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): . Paper presented at 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Lisbon, Portugal, August 28 - September 1, 2017 (pp. 553-560). New York: Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Paving the Way for Culturally Competent Robots: a Position Paper
Show others...
2017 (English)In: 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) / [ed] Howard, A; Suzuki, K; Zollo, L, New York: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 553-560Conference paper, Published paper (Refereed)
Abstract [en]

Cultural competence is a well known requirementfor an effective healthcare, widely investigated in thenursing literature. We claim that personal assistive robotsshould likewise be culturally competent, aware of generalcultural characteristics and of the different forms they take indifferent individuals, and sensitive to cultural differences whileperceiving, reasoning, and acting. Drawing inspiration fromexisting guidelines for culturally competent healthcare and thestate-of-the-art in culturally competent robotics, we identifythe key robot capabilities which enable culturally competentbehaviours and discuss methodologies for their developmentand evaluation.

Place, publisher, year, edition, pages
New York: Institute of Electrical and Electronics Engineers (IEEE), 2017
Series
IEEE RO-MAN, ISSN 1944-9445, E-ISSN 1944-9437
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:oru:diva-62926 (URN)10.1109/ROMAN.2017.8172357 (DOI)000427262400087 ()978-1-5386-3518-6 (ISBN)978-1-5386-3519-3 (ISBN)
Conference
26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Lisbon, Portugal, August 28 - September 1, 2017
Note

Funding Agencies:

Ministry of Internal Affairs and Communication of Japan  

European Commission  737858 

Available from: 2017-12-01 Created: 2017-12-01 Last updated: 2018-09-04Bibliographically approved
Grosinger, J., Pecora, F. & Saffiotti, A. (2017). Proactivity through equilibrium maintenance with fuzzy desirability. In: 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC): . Paper presented at IEEE International Conference on Systems, Man and Cybernetics (SMC 2017), Banff, AB, Canada, October 5-8, 2017. Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Proactivity through equilibrium maintenance with fuzzy desirability
2017 (English)In: 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Institute of Electrical and Electronics Engineers (IEEE), 2017Conference paper, Published paper (Refereed)
Abstract [en]

Proactive cognitive agents need to be capable ofboth generating their own goals and enacting them. In thispaper, we cast this problem as that ofmaintaining equilibrium,that is, seeking opportunities to act that keep the system indesirable states while avoiding undesirable ones. We characterizedesirability of states as graded preferences, using mechanismsfrom the field of fuzzy logic. As a result, opportunities for anagent to act can also be graded, and their relative preferencecan be used to infer when and how to act. This paper providesa formal description of our computational framework, andillustrates how the use of degrees of desirability leads to well-informed choices of action.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:oru:diva-59447 (URN)10.1109/SMC.2017.8122932 (DOI)000427598702027 ()2-s2.0-85044369004 (Scopus ID)978-1-5386-1645-1 (ISBN)978-1-5386-1644-4 (ISBN)978-1-5386-1646-8 (ISBN)
Conference
IEEE International Conference on Systems, Man and Cybernetics (SMC 2017), Banff, AB, Canada, October 5-8, 2017
Note

Funding Agencies:

Italian Ministry of Foreign Affairs and International Cooperation (MAECI)  

Italian Ministry of Education, Universities and Research (MIUR)  

Swedish Research Council (VR Project WearAmI)  PGR00193 

Semantic Robots Research Profile (Swedish Knowledge Foundation) 

Available from: 2017-09-04 Created: 2017-09-04 Last updated: 2018-04-19Bibliographically approved
Mansouri, M. & Pecora, F. (2016). A robot sets a table: a case for hybrid reasoning with different types of knowledge. Journal of experimental and theoretical artificial intelligence (Print), 28(5), 801-821
Open this publication in new window or tab >>A robot sets a table: a case for hybrid reasoning with different types of knowledge
2016 (English)In: Journal of experimental and theoretical artificial intelligence (Print), ISSN 0952-813X, E-ISSN 1362-3079, Vol. 28, no 5, p. 801-821Article in journal (Refereed) Published
Abstract [en]

An important contribution of AI to Robotics is the model-centred approach, whereby competent robot behaviour stems from automated reasoning in models of the world which can be changed to suit different environments, physical capabilities and tasks. However models need to capture diverse (and often application-dependent) aspects of the robot's environment and capabilities. They must also have good computational properties, as robots need to reason while they act in response to perceived context. In this article, we investigate the use of a meta-CSP-based technique to interleave reasoning in diverse knowledge types. We reify the approach through a robotic waiter case study, for which a particular selection of spatial, temporal, resource and action KR formalisms is made. Using this case study, we discuss general principles pertaining to the selection of appropriate KR formalisms and jointly reasoning about them. The resulting integration is evaluated both formally and experimentally on real and simulated robotic platforms.

Place, publisher, year, edition, pages
Taylor & Francis, 2016
Keywords
Hybrid knowledge representation and reasoning; meta-CSP; online robot planning; spatio-temporal reasoning; metric and qualitative temporal constraints
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-45485 (URN)10.1080/0952813X.2015.1132267 (DOI)000382330400003 ()
Projects
RACE
Note

Funding Agency;

EC 287752

Available from: 2015-08-06 Created: 2015-08-06 Last updated: 2018-06-11Bibliographically approved
Beetz, M., Chatila, R., Hertzberg, J. & Pecora, F. (2016). AI Reasoning Methods for Robotics (2ed.). In: Bruno Siciliano, Oussama Khatib (Ed.), Springer Handbook of Robotics: (pp. 329-356). Springer
Open this publication in new window or tab >>AI Reasoning Methods for Robotics
2016 (English)In: Springer Handbook of Robotics / [ed] Bruno Siciliano, Oussama Khatib, Springer, 2016, 2, p. 329-356Chapter in book (Other academic)
Abstract [en]

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.

Place, publisher, year, edition, pages
Springer, 2016 Edition: 2
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-45482 (URN)978-3-319-32552-1 (ISBN)
Available from: 2015-08-06 Created: 2015-08-06 Last updated: 2018-01-11Bibliographically approved
Loutfi, A., Jönsson, A., Karlsson, L., Lind, L., Lindén, M., Pecora, F. & Voigt, T. (2016). Ecare@Home: A Distributed Research Environment on Semantic Interoperability. In: : . Paper presented at The 3rd EAI International Conference on IoT Technologies for HealthCare (HealthyIoT), Västerås, Sweden, October 18-19, 2016 (pp. 6).
Open this publication in new window or tab >>Ecare@Home: A Distributed Research Environment on Semantic Interoperability
Show others...
2016 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents the motivation and challenges to developingsemantic interoperability for an internet of things network that isused in the context of home based care. The paper describes a researchenvironment which examines these challenges and illustrates the motivationthrough a scenario whereby a network of devices in the home isused to provide high-level information about elderly patients by leveragingfrom techniques in context awareness, automated reasoning, andconguration planning.

Keywords
semantic interoperability, conguration planning, health and care, internet of things
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-53262 (URN)
Conference
The 3rd EAI International Conference on IoT Technologies for HealthCare (HealthyIoT), Västerås, Sweden, October 18-19, 2016
Projects
E-care@home
Funder
Knowledge Foundation
Available from: 2016-10-24 Created: 2016-10-24 Last updated: 2018-01-14Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-9652-7864

Search in DiVA

Show all publications