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Grosinger, J., Pecora, F. & Saffiotti, A. (2019). Robots that Maintain Equilibrium: Proactivity by Reasoning About User Intentions and Preferences. Pattern Recognition Letters, 118, 85-93
Open this publication in new window or tab >>Robots that Maintain Equilibrium: Proactivity by Reasoning About User Intentions and Preferences
2019 (English)In: Pattern Recognition Letters, ISSN 0167-8655, E-ISSN 1872-7344, Vol. 118, p. 85-93Article in journal (Refereed) Published
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, 2019
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)000457976400010 ()2-s2.0-85048078578 (Scopus ID)
Funder
Swedish Research Council, PGR00193
Note

Funding Agency:

Semantic Robots Research Profile (Swedish Knowledge Foundation)

Available from: 2018-03-12 Created: 2018-03-12 Last updated: 2019-02-19Bibliographically approved
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
Menicatti, R., Recchiuto, C. T., Bruno, B., Zaccaria, R., Khaliq, A. A., Köckemann, U., . . . Sgorbissa, A. (2018). Collaborative Development Within a Social Robotic, Multi-Disciplinary Effort: the CARESSES Case Study. In: 2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO): . Paper presented at 2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), Genova, Italy, 27-29 September, 2018 (pp. 117-124). IEEE
Open this publication in new window or tab >>Collaborative Development Within a Social Robotic, Multi-Disciplinary Effort: the CARESSES Case Study
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2018 (English)In: 2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), IEEE, 2018, p. 117-124Conference paper, Published paper (Refereed)
Abstract [en]

In many cases, complex multidisciplinary research projects may show a lack of coordinated development and integration, and a big effort is often required in the final phase of the projects in order to merge software developed by heterogeneous research groups. This is particularly true in advanced robotic projects: the objective here is to deliver a system that integrates all the hardware and software components, is capable of autonomous behaviour, and needs to be deployed in real-world scenarios toward providing an impact on future research and, ultimately, on society. On the other hand, in recent years there has been a growing interest for techniques related to software integration, but these have been mostly applied to the IT commercial domain.

This paper presents the work performed in the context of the project CARESSES, a multidisciplinary research project focusing on socially assistive robotics that involves 9 partners from the EU and Japan. Given the complexity of the project, a huge importance has been placed on software integration, task planning and architecture definition since the first stages of the work: to this aim, some of the practices commonly used in the commercial domain for software integration, such as merging software from the early stage, have been applied. As a case study, the document describes the steps which have been followed in the first year of the project discussing strengths and weaknesses of this approach.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE Workshop on Advanced Robotics and its Social Impacts, ISSN 2162-7568
Keywords
Robot sensing systems, Cultural differences, Robot kinematics, Computer architecture, Middleware
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-71984 (URN)10.1109/ARSO.2018.8625740 (DOI)000458688000025 ()978-1-5386-8037-7 (ISBN)
Conference
2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), Genova, Italy, 27-29 September, 2018
Projects
CARESSES
Funder
EU, Horizon 2020, 737858
Note

Funding Agencies:

Ministry of Internal Affairs and Communication of Japan 

Available from: 2019-01-31 Created: 2019-01-31 Last updated: 2019-03-01Bibliographically approved
Khaliq, A. A., Köckemann, U., Pecora, F., Saffiotti, A., Bruno, B., Recchiuto, C. T., . . . Chong, N. Y. (2018). Culturally aware Planning and Execution of Robot Actions. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018 (pp. 326-332). IEEE
Open this publication in new window or tab >>Culturally aware Planning and Execution of Robot Actions
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2018 (English)In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2018, p. 326-332Conference paper, Published paper (Refereed)
Abstract [en]

The way in which humans behave, speak andinteract is deeply influenced by their culture. For example,greeting is done differently in France, in Sweden or in Japan;and the average interpersonal distance changes from onecultural group to the other. In order to successfully coexistwith humans, robots should also adapt their behavior to theculture, customs and manners of the persons they interact with.In this paper, we deal with an important ingredient of culturaladaptation: how to generate robot plans that respect givencultural preferences, and how to execute them in a way thatis sensitive to those preferences. We present initial results inthis direction in the context of the CARESSES project, a jointEU-Japan effort to build culturally competent assistive robots.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
Keywords
Robotics, automated planning, cultural awareness
National Category
Computer Sciences Computer Vision and Robotics (Autonomous Systems)
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-71980 (URN)10.1109/IROS.2018.8593570 (DOI)000458872700030 ()978-1-5386-8094-0 (ISBN)978-1-5386-8095-7 (ISBN)
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018
Funder
EU, Horizon 2020, 737858
Note

Funding Agency:

Ministry of Internal Affairs and Communication of Japan

Available from: 2019-01-31 Created: 2019-01-31 Last updated: 2019-03-14Bibliographically approved
Köckemann, U., Khaliq, A. A., Pecora, F. & Saffiotti, A. (2018). Domain Reasoning for Robot Task Planning: A Position Paper. In: Alberto Finzi, Erez Karpas, Goldie Nejat, AndreA Orlandini, Siddharth Srivastava (Ed.), PlanRob 2018: Proceedings of the 6th Workshop on Planning and Robotics. Paper presented at 28th International Conference on Automated Planning and Scheduling, Delft, The Netherlands, June 24-29, 2018 (pp. 102-105). ICAPS
Open this publication in new window or tab >>Domain Reasoning for Robot Task Planning: A Position Paper
2018 (English)In: PlanRob 2018: Proceedings of the 6th Workshop on Planning and Robotics / [ed] Alberto Finzi, Erez Karpas, Goldie Nejat, AndreA Orlandini, Siddharth Srivastava, ICAPS , 2018, p. 102-105Conference paper, Published paper (Refereed)
Abstract [en]

In this position paper we argue for moving towards generalpurpose domains to promote the usage of task planning forreal-world robot systems. Planning approaches should extractconcrete domains based on their current context in order tosolve problems. Towards this aim, we define the problem ofdomain reasoning, by which a planning domain is obtainedfrom a more general, multi-purpose domain definition, giventhe current deployment and context of the robot system. Weprovide examples motivating the need for domain reasoningin robot task planning, as well as a discussion of potentialsolutions to the domain reasoning problem.

Place, publisher, year, edition, pages
ICAPS, 2018
Keywords
Automated planning, domain reasoning
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-71979 (URN)
Conference
28th International Conference on Automated Planning and Scheduling, Delft, The Netherlands, June 24-29, 2018
Projects
CARESSES
Funder
EU, Horizon 2020, 737858
Available from: 2019-01-31 Created: 2019-01-31 Last updated: 2019-02-04Bibliographically approved
Salvado, J., Krug, R., Mansouri, M. & Pecora, F. (2018). Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018 (pp. 7940-7946). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization
2018 (English)In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 7940-7946Conference paper, Published paper (Refereed)
Abstract [en]

This paper is concerned with automating fleets of autonomous robots. This involves solving a multitude of problems, including goal assignment, motion planning, and coordination, while maximizing some performance criterion. While methods for solving these sub-problems have been studied, they address only a facet of the overall problem, and make strong assumptions on the use-case, on the environment, or on the robots in the fleet. In this paper, we formulate the overall fleet management problem in terms of Optimal Control. We describe a scheme for solving this problem in the particular case of fleets of non-holonomic robots navigating in an environment with obstacles. The method is based on a two-phase approach, whereby the first phase solves for fleet-wide boolean decision variables via Mixed Integer Quadratic Programming, and the second phase solves for real-valued variables to obtain an optimized set of trajectories for the fleet. Examples showcasing the features of the method are illustrated, and the method is validated experimentally.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
Keywords
Multi robot motion planning
National Category
Electrical Engineering, Electronic Engineering, Information Engineering Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:oru:diva-71289 (URN)10.1109/IROS.2018.8594118 (DOI)000458872707027 ()978-1-5386-8094-0 (ISBN)978-1-5386-8095-7 (ISBN)
Conference
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018
Projects
ILIAD
Funder
EU, Horizon 2020, 732737VINNOVASwedish Foundation for Strategic Research
Available from: 2019-01-09 Created: 2019-01-09 Last updated: 2019-03-13Bibliographically approved
Wasik, A., Tomic, S., Saffiotti, A., Pecora, F., Martinoli, A. & Lima, P. U. (2018). Towards Norm Realization in Institutions Mediating Human-Robot Societies. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018 (pp. 297-304). IEEE
Open this publication in new window or tab >>Towards Norm Realization in Institutions Mediating Human-Robot Societies
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2018 (English)In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2018, p. 297-304Conference paper, Published paper (Refereed)
Abstract [en]

Social norms are the understandings that govern the behavior of members of a society. As such, they regulate communication, cooperation and other social interactions. Robots capable of reasoning about social norms are more likely to be recognized as an extension of our human society. However, norms stated in a form of the human language are inherently vague and abstract. This allows for applying norms in a variety of situations, but if the robots are to adhere to social norms, they must be capable of translating abstract norms to the robotic language. In this paper we use a notion of institution to realize social norms in real robotic systems. We illustrate our approach in a case study, where we translate abstract norms into concrete constraints on cooperative behaviors of humans and robots. We investigate the feasibility of our approach and quantitatively evaluate the performance of our framework in 30 real experiments with user-based evaluation with 40 participants.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:oru:diva-73139 (URN)10.1109/IROS.2018.8594079 (DOI)000458872700027 ()978-1-5386-8094-0 (ISBN)978-1-5386-8095-7 (ISBN)
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018
Funder
EU, Horizon 2020, 737858
Note

Funding Agency:

ISR/LARSyS Strategic Funds from FCT  FCT[UID/EEA/5009/2013]  FCT/11145/12/12/2014/S

Available from: 2019-03-14 Created: 2019-03-14 Last updated: 2019-03-14Bibliographically 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
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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
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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
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-9652-7864

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