To Örebro University

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

Direct link
Publications (10 of 17) Show all publications
Veiga, T. & Renoux, J. (2023). From Reactive to Active Sensing: A Survey on Information Gathering in Decision-theoretic Planning. ACM Computing Surveys, 55(13S), Article ID 280.
Open this publication in new window or tab >>From Reactive to Active Sensing: A Survey on Information Gathering in Decision-theoretic Planning
2023 (English)In: ACM Computing Surveys, ISSN 0360-0300, E-ISSN 1557-7341, Vol. 55, no 13S, article id 280Article in journal (Refereed) Published
Abstract [en]

In traditional decision-theoretic planning, information gathering is a means to a goal. The agent receives information about its environment (state or observation) and uses it as a way to optimize a state-based reward function. Recent works, however, have focused on application domains in which information gathering is not only the mean but the goal itself. The agent must optimize its knowledge of the environment. However, traditional Markov-based decision-theoretic models cannot account for rewarding the agent based on its knowledge, which leads to the development of many approaches to overcome this limitation. We survey recent approaches for using decision-theoretic models in information-gathering scenarios, highlighting common practices and existing generic models, and show that existing methods can be categorized into three classes: reactive sensing, single-agent active sensing, and multi-agent active sensing. Finally, we highlight potential research gaps and suggest directions for future research.

Place, publisher, year, edition, pages
Association for Computing Machinery (ACM), 2023
Keywords
Decision-theoretic planning, information gathering, active sensing
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-109481 (URN)10.1145/3583068 (DOI)001056300600018 ()2-s2.0-85168797237 (Scopus ID)
Available from: 2023-10-31 Created: 2023-10-31 Last updated: 2023-10-31Bibliographically approved
Luperto, M., Monroy, J., Renoux, J., Lunardini, F., Basilico, N., Bulgheroni, M., . . . Borghese, N. A. (2023). Integrating Social Assistive Robots, IoT, Virtual Communities and Smart Objects to Assist at-Home Independently Living Elders: the MoveCare Project. International Journal of Social Robotics, 15(3), 517-545
Open this publication in new window or tab >>Integrating Social Assistive Robots, IoT, Virtual Communities and Smart Objects to Assist at-Home Independently Living Elders: the MoveCare Project
Show others...
2023 (English)In: International Journal of Social Robotics, ISSN 1875-4791, E-ISSN 1875-4805, Vol. 15, no 3, p. 517-545Article in journal (Refereed) Published
Abstract [en]

The integration of Ambient Assisted Living (AAL) frameworks with Socially Assistive Robots (SARs) has proven useful for monitoring and assisting older adults in their own home. However, the difficulties associated with long-term deployments in real-world complex environments are still highly under-explored. In this work, we first present the MoveCare system, an unobtrusive platform that, through the integration of a SAR into an AAL framework, aimed to monitor, assist and provide social, cognitive, and physical stimulation in the own houses of elders living alone and at risk of falling into frailty. We then focus on the evaluation and analysis of a long-term pilot campaign of more than 300 weeks of usages. We evaluated the system's acceptability and feasibility through various questionnaires and empirically assessed the impact of the presence of an assistive robot by deploying the system with and without it. Our results provide strong empirical evidence that Socially Assistive Robots integrated with monitoring and stimulation platforms can be successfully used for long-term support to older adults. We describe how the robot's presence significantly incentivised the use of the system, but slightly lowered the system's overall acceptability. Finally, we emphasise that real-world long-term deployment of SARs introduces a significant technical, organisational, and logistical overhead that should not be neglected nor underestimated in the pursuit of long-term robust systems. We hope that the findings and lessons learned from our work can bring value towards future long-term real-world and widespread use of SARs.

Place, publisher, year, edition, pages
Springer, 2023
Keywords
Ambient Assisted Living, IoT network, Monitoring, Socially assistive robots, Virtual communities
National Category
Computer Systems
Identifiers
urn:nbn:se:oru:diva-97653 (URN)10.1007/s12369-021-00843-0 (DOI)000754927900001 ()35194482 (PubMedID)2-s2.0-85124749539 (Scopus ID)
Note

Funding agency:

European Commission Joint Research Centre ICT-26-2016b-GA 732158

Correction:

DOI: 10.1007/s12369-022-00885-y

WOS: 000857896600001

Available from: 2022-02-24 Created: 2022-02-24 Last updated: 2023-12-08Bibliographically approved
Luperto, M., Monroy, J., Moreno, F.-A., Lunardini, F., Renoux, J., Krpic, A., . . . Borghese, N. A. (2023). Seeking at-home long-term autonomy of assistive mobile robots through the integration with an IoT-based monitoring system. Robotics and Autonomous Systems, 161, Article ID 104346.
Open this publication in new window or tab >>Seeking at-home long-term autonomy of assistive mobile robots through the integration with an IoT-based monitoring system
Show others...
2023 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 161, article id 104346Article in journal (Refereed) Published
Abstract [en]

In this paper, we propose a system that stems from the integration of an autonomous mobile robot with an IoT-based monitoring system to provide monitoring, assistance, and stimulation to older adults living alone in their own houses. The creation of an Internet of Robotics Things (IoRT) based on the interplay between pervasive smart objects and autonomous robotic systems is claimed to enable the creation of innovative services conceived for assisting the final user, especially in elderly care. The synergy between IoT and a Socially Assistive Robot (SAR) was conceived to offer robustness, reconfiguration, heterogeneity, and scalability, by bringing a strong added value to both the current SAR and IoT technologies. First, we propose a method to achieve the synergy and integration between the IoT system and the robot; then, we show how our method increases the performance and effectiveness of both to provide long-term support to the older adults. To do so, we present a case-study, where we focus on the detection of signs of the frailty syndrome, a set of vulnerabilities typically conveyed by a cognitive and physical decline in older people that concur in amplifying the risks of major diseases hindering the capabilities of independent living. Experimental evaluation is performed in both controlled settings and in a long-term real-world pilot study with 9 older adults in their own apartments, where the system was deployed autonomously for, on average, 12 weeks.

Place, publisher, year, edition, pages
Elsevier, 2023
Keywords
Socially assistive robots, IoT, Internet of robotic things
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:oru:diva-105943 (URN)10.1016/j.robot.2022.104346 (DOI)000976331800001 ()2-s2.0-85145250829 (Scopus ID)
Funder
EU, Horizon 2020, CT-26-2016b- GA 732158
Note

Funding agency:

PON project SI-ROBOTICS - Italian government

Available from: 2023-05-15 Created: 2023-05-15 Last updated: 2023-05-15Bibliographically approved
Luperto, M., Romeo, M., Monroy, J., Renoux, J., Vuono, A., Moreno, F.-A., . . . Borghese, N. A. (2022). User feedback and remote supervision for assisted living with mobile robots: A field study in long-term autonomy. Robotics and Autonomous Systems, 155, Article ID 104170.
Open this publication in new window or tab >>User feedback and remote supervision for assisted living with mobile robots: A field study in long-term autonomy
Show others...
2022 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 155, article id 104170Article in journal (Refereed) Published
Abstract [en]

In an ageing society, the at-home use of Socially Assistive Robots (SARs) could provide remote monitoring of their users' well-being, together with physical and psychological support. However, private home environments are particularly challenging for SARs, due to their unstructured and dynamic nature which often contributes to robots' failures. For this reason, even though several prototypes of SARs for elderly care have been developed, their commercialisation and wide-spread at-home use are yet to be effective. In this paper, we analyse how including the end users' feedback impacts the SARs reliability and acceptance. To do so, we introduce a Monitoring and Logging System (MLS) for remote supervision, which increases the explainability of SAR-based systems deployed in older adults' apartments, while also allowing the exchange of feedback between caregivers, technicians, and older adults. We then present an extensive field study showing how long-term deployment of autonomous SARs can be accomplished by relying on such a feedback loop to address any potential issue. To this end, we provide the results obtained in a 130-week long study where autonomous SARs were deployed in the apartments of 10 older adults, with the aim of possibly serving and assisting future practitioners, with the knowledge collected from this extensive experimental campaign, to fill the gap that currently exists for the widespread adoption of SARs.

Place, publisher, year, edition, pages
Elsevier, 2022
Keywords
Socially Assistive Robots, Long-term autonomy, Field study
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:oru:diva-100333 (URN)10.1016/j.robot.2022.104170 (DOI)000823233600002 ()2-s2.0-85132884165 (Scopus ID)
Funder
European Commission, ICT-26-2016b - GA 732158
Note

Funding agencies:

Italian PON project SI-Robotics

Project Essence SC1-PHE-CORONAVIRUS-2020-2B-GA 101016112

Available from: 2022-08-01 Created: 2022-08-01 Last updated: 2022-08-01Bibliographically approved
Renoux, J., Veiga, T. S., Lima, P. U. & Spaan, M. T. J. (2020). A Unified Decision-Theoretic Model for Information Gathering and Communication Planning. In: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN): . Paper presented at 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), (Virtual Conference), Naples, Italy, August 31 - September 4, 2020 (pp. 67-74). IEEE
Open this publication in new window or tab >>A Unified Decision-Theoretic Model for Information Gathering and Communication Planning
2020 (English)In: 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), IEEE, 2020, p. 67-74Conference paper, Published paper (Refereed)
Abstract [en]

We consider the problem of communication planning for human-machine cooperation in stochastic and partially observable environments. Partially Observable Markov Decision Processes with Information Rewards (POMDPs-IR) form a powerful framework for information-gathering tasks in such environments. We propose an extension of the POMDP-IR model, called a Communicating POMDP-IR (com-POMDP-IR), that allows an agent to proactively plan its communication actions by using an approximation of the human's beliefs. We experimentally demonstrate the capability of our com-POMDPIR agent to limit its communication to relevant information and its robustness to lost messages.

Place, publisher, year, edition, pages
IEEE, 2020
Series
IEEE International Workshop on Robot and Human Communication (ROMAN), ISSN 1944-9445, E-ISSN 1944-9437
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-88105 (URN)10.1109/RO-MAN47096.2020.9223597 (DOI)000598571700011 ()2-s2.0-85095738796 (Scopus ID)978-1-7281-6075-7 (ISBN)978-1-7281-6076-4 (ISBN)
Conference
29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020), (Virtual Conference), Naples, Italy, August 31 - September 4, 2020
Note

Funding Agencies:

ERCIM "Alain Bensoussan" Fellowship  

European Union (EU)825619

Project LARSyS - FCT Project UIDB/50009/2020

Available from: 2020-12-16 Created: 2020-12-16 Last updated: 2021-01-20Bibliographically approved
Renoux, J., Luperto, M., Basilico, N., Romeo, M., Milis, M., Lunardini, F., . . . Borghese, N. A. (2020). A Virtual Caregiver for Assisted Daily Living of Pre-Frail Users. In: Ute Schmid, Franziska Klügl, Diedrich Wolter (Ed.), KI 2020: Advances in Artificial Intelligence: 43rd German Conference on AI, Bamberg, Germany, September 21–25, 2020, Proceedings. Paper presented at 43rd German Conference on Artificial Intelligence (KI 2020), (virtual conference), Bamberg, Germany, September 21-25, 2020 (pp. 176-189). Cham: Springer
Open this publication in new window or tab >>A Virtual Caregiver for Assisted Daily Living of Pre-Frail Users
Show others...
2020 (English)In: KI 2020: Advances in Artificial Intelligence: 43rd German Conference on AI, Bamberg, Germany, September 21–25, 2020, Proceedings / [ed] Ute Schmid, Franziska Klügl, Diedrich Wolter, Cham: Springer, 2020, p. 176-189Conference paper, Published paper (Refereed)
Abstract [en]

As Europe sees its population aging dramatically, Assisted Daily Living for the elderly becomes a more and more important and relevant research topic. The Movecare Project focuses on this topic by integrating a robotic platform, an IoT system, and an activity center to provide assistance, suggestions of activities and transparent monitoring to users at home. In this paper, we describe the Virtual Caregiver, a software component of the Movecare platform, that is responsible for analyzing the data from the various modules and generating suggestions tailored to the user’s state and needs. A preliminary study has been carried on over 2 months with 15 users. This study suggests that the presence of the Virtual Caregiver encourages people to use the Movecare platform more consistently, which in turn could result in better monitoring and prevention of cognitive and physical decline.

Place, publisher, year, edition, pages
Cham: Springer, 2020
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 12325
Keywords
Virtual Caregiver, Assisted Daily Living, Ambient intelligence
National Category
Computer Systems
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-88106 (URN)10.1007/978-3-030-58285-2_13 (DOI)2-s2.0-85091157126 (Scopus ID)978-3-030-58285-2 (ISBN)978-3-030-58284-5 (ISBN)
Conference
43rd German Conference on Artificial Intelligence (KI 2020), (virtual conference), Bamberg, Germany, September 21-25, 2020
Available from: 2020-12-16 Created: 2020-12-16 Last updated: 2021-01-18Bibliographically approved
Köckemann, U., Alirezaie, M., Renoux, J., Tsiftes, N., Ahmed, M. U., Morberg, D., . . . Loutfi, A. (2020). Open-Source Data Collection and Data Sets for Activity Recognition in Smart Homes. Sensors, 20(3), Article ID E879.
Open this publication in new window or tab >>Open-Source Data Collection and Data Sets for Activity Recognition in Smart Homes
Show others...
2020 (English)In: Sensors, E-ISSN 1424-8220, Vol. 20, no 3, article id E879Article in journal (Refereed) Published
Abstract [en]

As research in smart homes and activity recognition is increasing, it is of ever increasing importance to have benchmarks systems and data upon which researchers can compare methods. While synthetic data can be useful for certain method developments, real data sets that are open and shared are equally as important. This paper presents the E-care@home system, its installation in a real home setting, and a series of data sets that were collected using the E-care@home system. Our first contribution, the E-care@home system, is a collection of software modules for data collection, labeling, and various reasoning tasks such as activity recognition, person counting, and configuration planning. It supports a heterogeneous set of sensors that can be extended easily and connects collected sensor data to higher-level Artificial Intelligence (AI) reasoning modules. Our second contribution is a series of open data sets which can be used to recognize activities of daily living. In addition to these data sets, we describe the technical infrastructure that we have developed to collect the data and the physical environment. Each data set is annotated with ground-truth information, making it relevant for researchers interested in benchmarking different algorithms for activity recognition.

Place, publisher, year, edition, pages
MDPI, 2020
Keywords
Data collection software, prototype installation, smart home data sets
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-79928 (URN)10.3390/s20030879 (DOI)000517786200303 ()32041376 (PubMedID)2-s2.0-85079189175 (Scopus ID)
Funder
Knowledge Foundation
Available from: 2020-02-20 Created: 2020-02-20 Last updated: 2022-02-10Bibliographically approved
Lunardini, F., Luperto, M., Romeo, M., Renoux, J., Basilico, N., Krpič, A., . . . Ferrante, S. (2019). The MOVECARE project: Home-based monitoring of frailty. In: 2019 IEEE EMBS International Conference on Biomedical & Health Informatics (BHI): Proceedings. Paper presented at 2019 IEEE EMBS International Conference on Biomedical and Health Informatics (BHI 2019), Dorin Forum, University of Illinois at Chicago, Chicago, United States, May 19-22, 2019. IEEE, Article ID 8834482.
Open this publication in new window or tab >>The MOVECARE project: Home-based monitoring of frailty
Show others...
2019 (English)In: 2019 IEEE EMBS International Conference on Biomedical & Health Informatics (BHI): Proceedings, IEEE, 2019, article id 8834482Conference paper, Published paper (Refereed)
Abstract [en]

Concerning frailty, the use of home-based technology able to continuously and transparently monitor the independent elder may represent a useful tool to support the traditional geriatric assessment in the identification of elderly people at risk of frailty, with the final aim of guiding the development of early preventive interventions. To this aim, the European MoveCare project develops an ICT platform to support the independent living of the elder at home. Here, we describe how home-based monitoring of frailty is addressed within MoveCare, specifically for the five Fried criteria. The platform leverages a net of heterogeneous sensors a service robot, and the use of gamification to achieve ecological monitoring of frailty through quantitative measurements transparently recorded during common daily-life activities. The indicators collected over time are fed to the reasoning entity of the platform to provide informal caregivers with relevant information on the elder's status.

Place, publisher, year, edition, pages
IEEE, 2019
Keywords
frailty, ageing, smart home, IoT, ICT
National Category
Computer Systems
Identifiers
urn:nbn:se:oru:diva-78938 (URN)10.1109/BHI.2019.8834482 (DOI)000508002200020 ()2-s2.0-85073032094 (Scopus ID)978-1-7281-0848-3 (ISBN)978-1-7281-0849-0 (ISBN)
Conference
2019 IEEE EMBS International Conference on Biomedical and Health Informatics (BHI 2019), Dorin Forum, University of Illinois at Chicago, Chicago, United States, May 19-22, 2019
Note

Funding Agency:

European H2020 project Movecare grant ICT-26-2016b  GA 732158

Available from: 2020-01-09 Created: 2020-01-09 Last updated: 2020-02-06Bibliographically approved
Renoux, J., Köckemann, U. & Loutfi, A. (2018). Online Guest Detection in a Smart Home using Pervasive Sensors and Probabilistic Reasoning. In: Achilles Kameas, Kostas Stathis (Ed.), Ambient Intelligence: . Paper presented at 14th European Conference on Ambient Intelligence, Larnaca, Cyprus, November 12-14 (pp. 74-89). Springer, 11249
Open this publication in new window or tab >>Online Guest Detection in a Smart Home using Pervasive Sensors and Probabilistic Reasoning
2018 (English)In: Ambient Intelligence / [ed] Achilles Kameas, Kostas Stathis, Springer, 2018, Vol. 11249, p. 74-89Conference paper, Published paper (Refereed)
Abstract [en]

Smart home environments equipped with distributed sensor networks are capable of helping people by providing services related to health, emergency detection or daily routine management. A backbone to these systems relies often on the system’s ability to track and detect activities performed by the users in their home. Despite the continuous progress in the area of activity recognition in smart homes, many systems make a strong underlying assumption that the number of occupants in the home at any given moment of time is always known. Estimating the number of persons in a Smart Home at each time step remains a challenge nowadays. Indeed, unlike most (crowd) counting solution which are based on computer vision techniques, the sensors considered in a Smart Home are often very simple and do not offer individually a good overview of the situation. The data gathered needs therefore to be fused in order to infer useful information. This paper aims at addressing this challenge and presents a probabilistic approach able to estimate the number of persons in the environment at each time step. This approach works in two steps: first, an estimate of the number of persons present in the environment is done using a Constraint Satisfaction Problem solver, based on the topology of the sensor network and the sensor activation pattern at this time point. Then, a Hidden Markov Model refines this estimate by considering the uncertainty related to the sensors. Using both simulated and real data, our method has been tested and validated on two smart homes of different sizes and configuration and demonstrates the ability to accurately estimate the number of inhabitants.

Place, publisher, year, edition, pages
Springer, 2018
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 11249
Keywords
probabilistic reasoning, smart home
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-71113 (URN)10.1007/978-3-030-03062-9_6 (DOI)000769878300006 ()2-s2.0-85056486514 (Scopus ID)
Conference
14th European Conference on Ambient Intelligence, Larnaca, Cyprus, November 12-14
Funder
Knowledge FoundationEU, Horizon 2020, 732158
Available from: 2019-01-07 Created: 2019-01-07 Last updated: 2022-11-25Bibliographically approved
Vuono, A., Luperto, M., Banfi, J., Basilico, N., Borghese, N. A., Sioutis, M., . . . Loutfi, A. (2018). Seeking Prevention of Cognitive Decline in Elders via Activity Suggestion by A Virtual Caregiver. In: Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS '18): . Paper presented at 17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018), Stockholm, Sweden, July 10-15, 2018 (pp. 1835-1837). Association for Computing Machinery (ACM)
Open this publication in new window or tab >>Seeking Prevention of Cognitive Decline in Elders via Activity Suggestion by A Virtual Caregiver
Show others...
2018 (English)In: Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS '18), Association for Computing Machinery (ACM), 2018, p. 1835-1837Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

Addressing the lack of social, cognitive, and physical stimuli among elders is a key factor to contrast Mild Cognitive Impairment (MCI) that can arise during the third age. Against such background, agent-based technology has been applied to different application domains related to the assistance of elders. In this demo, we introduce an application of this kind: an activity center featuring social, cognitive, and physical activities targeted for elders. This activity center interacts with an autonomous agent, called Virtual Caregiver, residing in the cloud and generating interventions based on users’ data. We show how the user experience can be enriched with an adaptive configuration encouraging socialization and cognitive training.

Place, publisher, year, edition, pages
Association for Computing Machinery (ACM), 2018
Series
Proceedings of the ... International Joint Conference on Autonomous Agents and Multiagent Systems AAMAS, E-ISSN 1548-8403
Keywords
Human-robot/agent interaction, Reasoning in agent-based systems
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-71115 (URN)000468231300243 ()2-s2.0-85054724087 (Scopus ID)978-1-4503-5649-7 (ISBN)
Conference
17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018), Stockholm, Sweden, July 10-15, 2018
Funder
EU, Horizon 2020, ICT-26-2016b GA 732158
Available from: 2019-01-07 Created: 2019-01-07 Last updated: 2019-06-03Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-2385-9470

Search in DiVA

Show all publications