To Örebro University

oru.seÖrebro University Publications
Change search
Link to record
Permanent link

Direct link
Khaliq, Ali Abdul
Alternative names
Publications (10 of 13) Show all publications
Papadopoulos, C., Castro, N., Nigath, A., Davidson, R., Faulkes, N., Menicatti, R., . . . Sgorbissa, A. (2022). The CARESSES Randomised Controlled Trial: Exploring the Health-Related Impact of Culturally Competent Artificial Intelligence Embedded Into Socially Assistive Robots and Tested in Older Adult Care Homes. International Journal of Social Robotics, 14, 245-256
Open this publication in new window or tab >>The CARESSES Randomised Controlled Trial: Exploring the Health-Related Impact of Culturally Competent Artificial Intelligence Embedded Into Socially Assistive Robots and Tested in Older Adult Care Homes
Show others...
2022 (English)In: International Journal of Social Robotics, ISSN 1875-4791, E-ISSN 1875-4805, Vol. 14, p. 245-256Article in journal (Refereed) Published
Abstract [en]

This trial represents the final stage of the CARESSES project which aimed to develop and evaluate a culturally competent artificial intelligent system embedded into social robots to support older adult wellbeing. A parallel group, single-blind randomised controlled trial was conducted across older adult care homes in England and Japan. Participants randomly allocated to the Experimental Group or Control Group 1 received a Pepper robot for up 18 h across 2 weeks. Two versions of the CARESSES artificial intelligence were tested: a fully culturally competent system (Experimental Group) and a more limited version (Control Group 1). Control Group 2 (Care As Usual) participants did not receive a robot. Quantitative outcomes of interest reported in the current paper were health-related quality of life (SF-36), loneliness (ULS-8), and perceptions of robotic cultural competence (CCATool-Robotics). Thirty-three residents completed all procedures. The difference in SF-36 Emotional Wellbeing scores between Experimental Group and Care As Usual participants over time was significant (F[1] = 6.614, sig = .019, ηp2 = .258), as was the comparison between Any Robot used and Care As Usual (F[1] = 5.128, sig = .031, ηp2 = .146). There were no significant changes in SF-36 physical health subscales. ULS-8 loneliness scores slightly improved among Experimental and Control Group 1 participants compared to Care As Usual participants, but this was not significant. This study brings new evidence which cautiously supports the value of culturally competent socially assistive robots in improving the psychological wellbeing of older adults residing in care settings.

Place, publisher, year, edition, pages
Springer, 2022
Keywords
CARESSES, Cultural competence, Experimental trial, Mental health, Older adults, Socially assistive robots
National Category
Nursing Health Care Service and Management, Health Policy and Services and Health Economy
Identifiers
urn:nbn:se:oru:diva-91504 (URN)10.1007/s12369-021-00781-x (DOI)000642855000001 ()33907589 (PubMedID)2-s2.0-85105242052 (Scopus ID)
Funder
EU, Horizon 2020, 737858
Note

Funding Agency:

Ministry of Internal Affairs and Communications of Japan 

Available from: 2021-04-29 Created: 2021-04-29 Last updated: 2023-12-08Bibliographically 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
Show others...
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
Show others...
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
Khaliq, A. A. (2018). From Ants to Service Robots: an Exploration in Stigmergy-Based Navigation Algorithms. (Doctoral dissertation). Örebro: Örebro University
Open this publication in new window or tab >>From Ants to Service Robots: an Exploration in Stigmergy-Based Navigation Algorithms
2018 (English)Doctoral thesis, monograph (Other academic)
Abstract [en]

Navigation is a core functionality of mobile robots. To navigate autonomously, a mobile robot typically relies on internal maps, self-localization, and path planning. Reliable navigation usually comes at the cost of expensive sensors and often requires significant computational overhead.

Many insects in nature perform robust, close-to-optimal goal directed navigation without having the luxury of sophisticated sensors, powerful computational resources, or even an internally stored map. They do so by exploiting a simple but powerful principle called stigmergy: they use their environment as an external memory to store, read and share information. In this thesis, we explore the use of stigmergy as an alternative route to realize autonomous navigation in practical robotic systems.

In our approach, we realize a stigmergic medium using RFID (Radio Frequency Identification) technology by embedding a grid of read-write RFID tags in the floor. A set of mobile robots, then, build and store maps used for navigation in the stigmergic medium itself. These maps are of three types: (1) goal maps which guide robots to known locations; (2) clearance maps which help robots avoid obstacles; (3) feature maps which can be used to store observable properties, such as light intensity or gas concentration. We show how these maps can be built both in static and in dynamic environments and used for navigation of heterogeneous robots. We also show that goal maps can be used for navigation to previously unknown and/or dynamic locations, and that feature maps can be used to navigate towards specific features, e.g., places with high gas concentration that are beyond the sensor’s range. We address the issue of perceptual errors (e.g., broken tags) during navigation. We further study the use of the built navigation maps to enable different types of human-aware robot navigation on the RFID floor.

We define several stigmergic algorithms for building maps and navigating on these maps. We formally analyse the properties of the main algorithms, and empirically evaluate all the algorithms both in simulation and with multiple physical robots. Results collected from tens of hours of real experiments and thousands of simulated runs demonstrate the effectiveness of our approach.

Place, publisher, year, edition, pages
Örebro: Örebro University, 2018. p. 185
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 79
Keywords
Stigmergy, Minimalistic Robots, Mobile robot navigation, RFID technology, Multi-robot system, Path planning, Localization, Map building
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-66172 (URN)978-91-7529-253-3 (ISBN)
Public defence
2018-06-15, Örebro universitet, Långhuset, Hörsal L2, Fakultetsgatan 1, Örebro, 13:15 (English)
Opponent
Supervisors
Available from: 2018-03-27 Created: 2018-03-27 Last updated: 2018-06-12Bibliographically approved
Khaliq, A., Pashami, S., Schaffernicht, E., Lilienthal, A. J. & Hernandez Bennetts, V. (2015). Bringing Artificial Olfaction and Mobile Robotics Closer Together: An Integrated 3D Gas Dispersion Simulator in ROS. In: Proceedings of the 16th International Symposium on Olfaction and Electronic Noses: . Paper presented at 16th International Symposium on Olfaction and Electronic Noses (ISOEN 2015), Dijon, Burgundy, France, June 28 - July 1, 2015. , Article ID 137.
Open this publication in new window or tab >>Bringing Artificial Olfaction and Mobile Robotics Closer Together: An Integrated 3D Gas Dispersion Simulator in ROS
Show others...
2015 (English)In: Proceedings of the 16th International Symposium on Olfaction and Electronic Noses, 2015, article id 137Conference paper, Published paper (Refereed)
Abstract [en]

Despite recent achievements, the potential of gas-sensitive mobile robots cannot be realized due to the lack of research on fundamental questions. A key limitation is the difficulty to carry out evaluations against ground truth. To test and compare approaches for gas-sensitive robots a truthful gas dispersion simulator is needed. In this paper we present a unified framework to simulate gas dispersion and to evaluate mobile robotics and gas sensing algorithms using ROS. Gas dispersion is modeled as a set of particles affected by diffusion, turbulence, advection and gravity. Wind information is integrated as time snapshots computed with any fluid dynamics computation tool. In addition, response models for devices such as Metal Oxide (MOX) sensors can be integrated in the framework.

Keywords
Mobile robot olfaction, gas dispersion simulation, gas sensor simulation, MOX sensors, environmental monitoring
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-47929 (URN)
Conference
16th International Symposium on Olfaction and Electronic Noses (ISOEN 2015), Dijon, Burgundy, France, June 28 - July 1, 2015
Available from: 2016-02-04 Created: 2016-02-04 Last updated: 2024-01-03Bibliographically approved
Khaliq, A. A., Pecora, F. & Saffiotti, A. (2015). Inexpensive, reliable and localization-free navigation using an RFID floor. In: 2015 European Conference on Mobile Robots (ECMR): . Paper presented at European Conference on Mobile Robots (ECMR), Lincoln, UK, September 2-4, 2015. New York: IEEE conference proceedings, Article ID 7324204.
Open this publication in new window or tab >>Inexpensive, reliable and localization-free navigation using an RFID floor
2015 (English)In: 2015 European Conference on Mobile Robots (ECMR), New York: IEEE conference proceedings , 2015, article id 7324204Conference paper, Published paper (Refereed)
Abstract [en]

Stigmergy is a principle observed in nature, in which animals store in the environment information to be used for communication or navigation. Stigmergy has recently been exploited in robotics: simple robots store a goal distance field in read-write RFID tags embedded in the floor, and later follow the gradient of this field to navigate optimally to that goal. Stigmergic navigation is localization-free, since robots only rely on the values read from the tags and do not need to know their own location. This makes navigation inexpensive (no ranging sensors) and reliable (no localization failures). To make this approach viable in practice, two issues need to be addressed: how to simplify the installation of an RFID floor; and how to follow the field gradient in a reliable way. This paper presents solutions to both problems. The solutions are validated through experiments performed on simulated and on real robots.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2015
Keywords
Navigation; Reliability; RFID tags; Robot sensing systems; Strips
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-45484 (URN)000380213600038 ()2-s2.0-84962229609 (Scopus ID)978-1-4673-9163-4 (ISBN)
Conference
European Conference on Mobile Robots (ECMR), Lincoln, UK, September 2-4, 2015
Available from: 2015-08-06 Created: 2015-08-06 Last updated: 2018-01-11Bibliographically approved
Khaliq, A. A. & Saffiotti, A. (2015). Stigmergy at work: Planning and navigation for a service robot on an RFID floor. In: IEEE International Conference on Robotics and Automation: . Paper presented at IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, May 26-30, 2015 (pp. 1085-1092). IEEE Computer Society
Open this publication in new window or tab >>Stigmergy at work: Planning and navigation for a service robot on an RFID floor
2015 (English)In: IEEE International Conference on Robotics and Automation, IEEE Computer Society, 2015, p. 1085-1092Conference paper, Published paper (Refereed)
Abstract [en]

Many species in nature store information in the environment to facilitate the performance of tasks and enable cooperation. This principle is known as stigmergy. Stigmergy has been widely studied in robotic systems, but so far mostly in simulation or in laboratory proofs of concept. In this paper, we propose a stigmergic approach to goal-directed navigation that can be used for navigation of a full-scale robotic system in a real apartment. A team of small ePuck robots build a set of navigation maps directly onto an RFID floor, where each map is associated to one predefined goal. The information stored in the floor can then used by a mid-size robot or by a larger domestic robot to perform safe navigation toward the predefined goals. To navigate, robots only rely on the information read from the RFID tags: in particular, they do not need to use an internal map or to perform self-localization. This results in robust and repeatable navigation with minimal hardware and software requirements.

Place, publisher, year, edition, pages
IEEE Computer Society, 2015
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-48014 (URN)10.1109/ICRA.2015.7139311 (DOI)000370974901012 ()2-s2.0-84938251670 (Scopus ID)9781479969234 (ISBN)
Conference
IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, May 26-30, 2015
Available from: 2016-02-05 Created: 2016-02-05 Last updated: 2018-01-10Bibliographically approved
Khaliq, A. A., Di Rocco, M. & Saffiotti, A. (2014). Stigmergic algorithms for multiple minimalistic robots on an RFID floor. Swarm Intelligence, 8(3), 199-225
Open this publication in new window or tab >>Stigmergic algorithms for multiple minimalistic robots on an RFID floor
2014 (English)In: Swarm Intelligence, ISSN 1935-3820, Vol. 8, no 3, p. 199-225Article in journal (Refereed) Published
Abstract [en]

Stigmergy is a powerful principle in nature, which has been shown to have interesting applications to robotic systems. By leveraging the ability to store information in the environment, robots with minimal sensing, memory, and computational capabilities can solve complex problems like global path planning. In this paper, we discuss the use of stigmergy in minimalist multi-robot systems, in which robots do not need to use any internal model, long-range sensing, or position awareness. We illustrate our discussion with three case studies: building a globally optimal navigation map, building a gradient map of a sensed feature, and updating the above maps dynamically. All case studies have been implemented in a real environment with multiple ePuck robots, using a floor with 1,500 embedded radio frequency identification tags as the stigmergic medium. Results collected from tens of hours of real experiments and thousands of simulated runs demonstrate the effectiveness of our approach.

Keywords
Stigmergy, RFID tags, Multi-robot systems, Minimalistic robots, Robot navigation, Path planning, Robotic olfaction
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-37870 (URN)10.1007/s11721-014-0096-0 (DOI)000342123500002 ()2-s2.0-84904521380 (Scopus ID)
Available from: 2014-10-22 Created: 2014-10-20 Last updated: 2018-01-11Bibliographically approved
Pomareda, V., Hernandez Bennetts, V., Abdul Khaliq, A., Trincavelli, M., Lilienthal, A. J. & Marco, S. (2013). Chemical source localization in real environments integrating chemical concentrations in a probabilistic plume mapping approach. In: Proceedings of the 15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013): . Paper presented at 15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013), Deagu, Korea, July 2-5, 2013.
Open this publication in new window or tab >>Chemical source localization in real environments integrating chemical concentrations in a probabilistic plume mapping approach
Show others...
2013 (English)In: Proceedings of the 15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013), 2013Conference paper, Published paper (Refereed)
Abstract [en]

Chemical plume source localization algorithms can be classified either as reactive plume tracking or gas distribution mapping approaches. Here, we focus on gas distribution mapping methods where the robot does not need to track the plume to find the source and can be used for other tasks. Probabilistic mapping approaches have been previously applied to real-world data successfully; e.g., in the approach proposed by Pang and Farrell. Instead of the quasi-continuous gas measurement values, this algorithm considers events (detections and non-detections) based on whether the sensor response is above or below a threshold to update recursively a source probability grid map; thus, discarding important information. We developed an extension of this event-based approach, integrating chemical concentrations directly instead of binary information. In this work, both algorithms are compared using real-world data obtained from a photo-ionization detector (PID), a non-selective gas sensor, and an anemometer in real environments. We validate simulation results and demonstrate that the concentration-based approach is more accurate in terms of a higher probability at the ground truth source location, a smaller distance between the probability maximum and the source location, and a more peaked probability distribution, measured in terms of the overall entropy.

Keywords
chemical plume source localization, Bayesian inference, chemical concentration, mobile robots, real environmen ts
National Category
Robotics Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-30716 (URN)
Conference
15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013), Deagu, Korea, July 2-5, 2013
Available from: 2013-09-06 Created: 2013-09-06 Last updated: 2023-05-15Bibliographically approved
Organisations

Search in DiVA

Show all publications