oru.sePublikationer
Ändra sökning
Avgränsa sökresultatet
1234 151 - 198 av 198
RefereraExporteraLänk till träfflistan
Permanent länk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Träffar per sida
  • 5
  • 10
  • 20
  • 50
  • 100
  • 250
Sortering
  • Standard (Relevans)
  • Författare A-Ö
  • Författare Ö-A
  • Titel A-Ö
  • Titel Ö-A
  • Publikationstyp A-Ö
  • Publikationstyp Ö-A
  • Äldst först
  • Nyast först
  • Skapad (Äldst först)
  • Skapad (Nyast först)
  • Senast uppdaterad (Äldst först)
  • Senast uppdaterad (Nyast först)
  • Disputationsdatum (tidigaste först)
  • Disputationsdatum (senaste först)
  • Standard (Relevans)
  • Författare A-Ö
  • Författare Ö-A
  • Titel A-Ö
  • Titel Ö-A
  • Publikationstyp A-Ö
  • Publikationstyp Ö-A
  • Äldst först
  • Nyast först
  • Skapad (Äldst först)
  • Skapad (Nyast först)
  • Senast uppdaterad (Äldst först)
  • Senast uppdaterad (Nyast först)
  • Disputationsdatum (tidigaste först)
  • Disputationsdatum (senaste först)
Markera
Maxantalet träffar du kan exportera från sökgränssnittet är 250. Vid större uttag använd dig av utsökningar.
  • 151. Pettersson, Ola
    et al.
    Karlsson, Lars
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Model-Free Execution Monitoring in Behavior-Based Robotics2007Ingår i: IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, ISSN 1083-4419, E-ISSN 1941-0492, Vol. 37, nr 4, s. 890-901Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    In the near future, autonomous mobile robots are expected to help humans by performing service tasks in many different areas, including personal assistance, transportation, cleaning, mining, or agriculture. In order to manage these tasks in a changing and partially unpredictable environment without the aid of humans, the robot must have the ability to plan its actions and to execute them robustly and safely. The robot must also have the ability to detect when the execution does not proceed as planned and to correctly identify the causes of the failure. An execution monitoring system allows the robot to detect and classify these failures. Most current approaches to execution monitoring in robotics are based on the idea of predicting the outcomes of the robot’s actions by using some sort of predictive model and comparing the predicted outcomes with the observed ones. In contrary, this paper explores the use of model-free approaches to execution monitoring, that is, approaches that do not use predictive models. In this paper, we show that pattern recognition techniques can be applied to realize model-free execution monitoring by classifying observed behavioral patterns into normal or faulty execution. We investigate the use of several such techniques and verify their utility in a number of experiments involving the navigation of a mobile robot in indoor environments.

  • 152.
    Pettersson, Ola
    et al.
    Örebro universitet, Institutionen för teknik.
    Karlsson, Lars
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Steps towards model-free execution monitoring on mobile robots2002Ingår i: Proceedings of the 2nd Swedish workshop on autonomous robots, 2002, s. 45-52Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper we present a model-free execution monitor for behavior-based mobile robots. By model-free we mean that the monitoring is based only on the actual execution, without involving any predictive models of the controlled system. Model-free monitors are especially suitable for systems where it is hard to obtain adequate models. In our approach we analyze the activation levels of the different behaviors using a pattern recognition technique. Our model-free execution monitor, which is realized by radial basis function networks, is shown to give a high performance in several realistic simulations.

  • 153.
    Potenza, Andre
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kiselev, Andrey
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Towards Sliding Autonomy in Mobile Robotic Telepresence: A Position Paper2017Konferensbidrag (Refereegranskat)
    Abstract [en]

    Sliding autonomy is used in teleoperation to adjusting a robot's level of local autonomy to match the user's needs. We claim that sliding autonomy can also improve mobile robotic telepresence, but we argue that existing approaches cannot be adopted to this domain without adequate modifications. We address in particular the question of how the need for autonomy, and its appropriate degree, can be inferred from measurable information.

  • 154.
    Potenza, Andre
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    One Robot and Two Humans: Some Notes on Shared Autonomy in the Case of Robotic Telepresence.2018Konferensbidrag (Refereegranskat)
    Abstract [en]

    Telepresence robots, similar to other teleoperated robots, can benefit strongly from shared autonomyas a way to enhance ease of use for the operator. With ever-increasing capabilities of autonomousrobots, it is crucial to understand what can be automated and under which circumstances. We argue that within a dynamic environment, the allocation of tasks between human and robot should not be fixed, but rather adaptable, taking into account the current state of the environment.

  • 155.
    Rajan, Kanna
    et al.
    Department of Engineering Cybernetics, Center for Autonomous Marine Operations and Systems (AMOS), Norges teknisk-naturvitenskapelige universitet (NTNU), Trondheim, Norway.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Towards a science of integrated AI and Robotics2017Ingår i: Artificial Intelligence, ISSN 0004-3702, E-ISSN 1872-7921, Vol. 247, s. 1-9Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    The early promise of the impact of machine intelligence did not involve the partitioning of the nascent field of Artificial Intelligence. The founders of AI envisioned the notion of embedded intelligence as being conjoined between perception, reasoning and actuation. Yet over the years the fields of AI and Robotics drifted apart. Practitioners of AI focused on problems and algorithms abstracted from the real world. Roboticists, generally with a background in mechanical and electrical engineering, concentrated on sensori-motor functions. That divergence is slowly being bridged with the maturity of both fields and with the growing interest in autonomous systems. This special issue brings together the state of the art and practice of the emergent field of integrated AI and Robotics, and highlights the key areas along which this current evolution of machine intelligence is heading.

  • 156.
    Rashid, Jayedur
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Broxvall, Mathias
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    A middleware to integrate robots, simple devices and everyday objects into an ambient ecology2012Ingår i: Pervasive and Mobile Computing, ISSN 1574-1192, E-ISSN 1873-1589, Vol. 8, nr 4, s. 522-541Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    The fields of ambient intelligence, distributed robotics and wireless sensor networks are converging toward a common vision, in which ubiquitous sensing and acting devices cooperate to provide useful services in the home. These devices can range from sophisticated mobile robots to simple sensor nodes and even simpler tagged everyday objects. In this vision, a milkbox left on the table after the user has left the home could ask the service of a mobile robot to be placed back in the refrigerator. A missing ingredient to realize this vision is a mechanism that enables the communication and interoperation among such highly heterogeneous entities. In this paper, we propose such a mechanism in the form of a middleware able to integrate robots, tiny devices and augmented everyday objects into one and the same system. The key moves to cope with heterogeneity are: the definition of a tiny, compatible version of the middleware, that can run on small devices; and the concept of object proxy, used to make everyday object accessible within the middleware. We describe the concepts and implementation of our middleware, and show a number of experiments that illustrate its performance.

  • 157.
    Rashid, Jayedur
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Broxvall, Mathias
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Digital representation of everyday objects in a robot ecology via proxies2008Ingår i: IEEE/RSJ international conference on intelligent robots and systems, 2008, IROS 2008, 2008, s. 1908-1914Konferensbidrag (Refereegranskat)
    Abstract [en]

    Robotic middlewares increasingly allow the seamless integration of multiple heterogeneous robots into one distributed system. Unfortunately, very simple devices like tagged everyday objects and smart objects are left orphan in this otherwise pervasive trend. We claim that the inclusion of simple everyday objects as part of distributed robot systems would have many advantages, and propose a design pattern to allow this inclusion. We make this pattern concrete by describing an implementation of it using a specific multi-robot middleware, called PEIS-Ecology Middleware. We also show an illustrative experiment which integrates everyday objects in a smart home equipped with mobile robots as well as more advanced distributed sensor nodes.

  • 158. Remondini, Denis
    et al.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    A modular, hierarchical, reconfigurable controller for autonomous robots2006Konferensbidrag (Övrigt vetenskapligt)
    Abstract [en]

    Behavior-based systems are one of the most popular paradigms for building controllers. Although this paradigm is intrinsically tied to the notion of modular design, most existing behavior-based controllers do not fully satisfy the important desiderata of modularity, hierarchical structure, and reconfigurability. In this paper we discuss these desiderata, and we describe a fuzzy controller that satisfies them. To illustrate the functioning of our controller, we show experiments run on both a simulator and a real robot

  • 159.
    Rockel, S.
    et al.
    University of Hamburg, Hamburg, Germany.
    Neumann, B.
    University of Hamburg, Hamburg, Germany.
    Zhang, J.
    University of Hamburg, Hamburg, Germany.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Konečný, Štefan
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Tomé, A.M.
    University of Aveiro, Aveiro, Portugal.
    Pinho, A.
    University of Aveiro, Aveiro, Portugal.
    Sebra Lopes, L.
    University of Aveiro, Aveiro, Portugal.
    Dubba, K.S.R.
    University of Leeds, Leeds, UK.
    Cohn, A.G.
    University of Leeds, Leeds, UK.
    Günther, M.
    University of Osnabrück, Osnabrück, Germany.
    Stock, S.
    University of Osnabrück, Osnabrück, Germany.
    Hertzberg, J.
    University of Osnabrück, Osnabrück, Germany.
    von Riegen, S.
    HITeC e.V., Hamburg, Germany.
    Hotz, L.
    HITeC e.V., Hamburg, Germany.
    An ontology-based multi-level robot architecture for learning from experiences2013Ingår i: Designing intelligent robots: reintegrating AI: Papers from the AAAI Spring Symposium, AAAI Press, 2013, s. 52-57Konferensbidrag (Refereegranskat)
  • 160.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Fuzzy logic in autonomous navigation2001Ingår i: Fuzzy logic techniques for autonomous vehicle navigation / [ed] Dimiter Driankov, Alessandro Saffiotti, Heidelberg: Physica Verlag, 2001, s. 3-24Kapitel i bok, del av antologi (Refereegranskat)
    Abstract [en]

    The development of techniques for autonomous navigation constitutes one of the major trends in the current research on mobile robotics. In this case study, we discuss how fuzzy computation techniques have be used in the SRI International mobile robot Flakey to address some of the difficult issues posed by autonomous navigation: (i) how to design basic behaviors; (ii) how to coordinate behaviors to execute full navigation plans; and (iii) how to use approximate map information. Our techniques have been validated in both in-house experiments and public events. The use of fuzzy logic has resulted in smooth motion control, robust performance in face of errors in the prior knowledge and in the sensor data, and principled integration between different layers of control

  • 161.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Handling uncertainty in control of autonomous robots1999Ingår i: Artificial intelligence today: recent trends and developments / [ed] Michael J. Wooldridge, Manuela Veloso, Berlin: Springer Berlin/Heidelberg, 1999, Vol. 1600, s. 381-407Kapitel i bok, del av antologi (Refereegranskat)
    Abstract [en]

    Autonomous robots need the ability to move purposefully and without human intervention in real-world environments that have not been specifically engineered for them. These environments are characterized by the pervasive presence of uncertainty: the need to cope with this uncertainty constitutes a major challenge for autonomous robots. In this note, we discuss this challenge, and present some specific solutions based on our experience on the use of fuzzy logic in mobile robots. We focus on three issues: how to realize robust motion control; how to flexibly execute navigation plans; and how to approximately estimate the robot's location.

  • 162.
    Saffiotti, Alessandro
    Örebro universitet, Akademin för naturvetenskap och teknik.
    The Concept of Peis-Ecology: Integrating Robots in Smart Environments.2009Ingår i: Acta Futura, E-ISSN 2309-1940, nr 3, s. 35-42Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. In this note I introduce this concept, summarize its main technological aspects, and speculate on its potential impact for space exploration.

  • 163.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Broxvall, Mathias
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Affordances in an ecology of physically embedded intelligent systems2008Ingår i: Towards affordance-based robot control, SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY , 2008, s. 106-121Konferensbidrag (Refereegranskat)
    Abstract [en]

    The concept of Ecology of Physically Embedded Intelligent Systems, or PFIS-Ecology, combines insights from the fields of autonomous robotics and ambient intelligence to provide a new solution to building intelligent robotic systems in the service of people. The concept of PEIS-Ecology also offers an interesting setting to study the applicability of Gibson's notion of affordances to an ecology of robots. In this paper we introduce this concept, and discuss its potential and implications both from an application point of view and from an ecological (Gibsonian) point of view. We also discuss some new scientific challenges introduced by a PEIS-Ecology, present our current steps toward its realization, and point at a few experimental results that show the viability of this concept.

  • 164.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Broxvall, Mathias
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Affordances in an ecology of physically embedded intelligent systems2008Ingår i: Towards affordance-based robot control / [ed] E. Rome, J. Hertzberg, G. Dorffner, Berlin: Springer , 2008, s. 106-121Kapitel i bok, del av antologi (Övrigt vetenskapligt)
    Abstract [en]

    The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights fromthe fields of autonomous robotics and ambient intelligence to provide a new solution to building intelligent robotic systems in the service of people. The concept of PEIS- Ecology also offers an interesting setting to study the applicability of Gibson's notion of affordances to an ecology of robots. In this paper we introduce this concept, and discuss its potential and implications both from an application point of view and from an ecological (Gibsonian) point of view. We also discuss some new scientific challenges introduced by a Peis- Ecology, present our current steps toward its realization, and point at a few experimental results that show the viability of this concept.

  • 165.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för teknik.
    Broxvall, Mathias
    Örebro universitet, Institutionen för teknik.
    PEIS ecologies: ambient intelligence meets autonomous robotics2005Ingår i: Proceedings of the 2005 joint conference on Smart objects and ambient intelligence: innovative context-aware services: usages and technologies, 2005, s. 275-280Konferensbidrag (Refereegranskat)
    Abstract [en]

    A common vision in the field of autonomous robotics is to create a skilled robot companion that is able to live in our homes and to perform physical tasks to help us in our everyday life. Another vision, coming from the field of ambient intelligence, is to create a network of intelligent devices that provides us with information, communication, and entertainment. We propose to combine these two visions into the new concept of an ecology of networked Physically Embedded Intelligent Systems (PEIS). In this paper, we define this concept, discuss ways to implement it, and illustrate it on a simple example involving some real robotic devices.

  • 166.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Broxvall, Mathias
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Gritti, Marco
    Örebro universitet, Akademin för naturvetenskap och teknik.
    LeBlanc, Kevin
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Lundh, Robert
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Rashid, Jayedur
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Seo, Beom-Su
    Cho, Young-Jo
    The PEIS-ecology project: vision and results2008Ingår i: IEEE/RSJ international conference on intelligent robots and systems, IROS 2008, New York: IEEE , 2008, s. 2329-2335Konferensbidrag (Refereegranskat)
    Abstract [en]

    The vision of an Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of autonomous robotics and ambient intelligence to provide a new approach to building robotic systems in the service of people. In this paper, we present this vision, and we report the results of a four-year collaborative research project between Sweden and Korea aimed at the concrete realization of this vision. We focus in particular on three results: a robotic middleware able to cope with highly heterogeneous systems; a technique for autonomous self-configuration and re-configuration; and a study of the problem of sharing information of both physical and digital nature.

  • 167.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för teknik.
    Broxvall, Mathias
    Örebro universitet, Institutionen för teknik.
    Seo, Beom-Su
    Cho, Young-Jo
    Steps toward an ecology of physically embedded intelligent systems2006Konferensbidrag (Refereegranskat)
    Abstract [en]

    The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. While this concept provides great potential, it also presents a number of new scientific challenges. In this paper we introduce this concept, discuss its potential and its challenges, and present our current steps toward its realization. We also point to experimental results that show the viability of this concept. The discussion in this paper is also relevant to any type of ubiquitous robot or network robotic system

  • 168.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för teknik.
    Broxvall, Mathias
    Örebro universitet, Institutionen för teknik.
    Seo, Beom-Su
    Örebro universitet, Institutionen för teknik.
    Cho, Young-Jo
    Örebro universitet, Institutionen för teknik.
    The PEIS-ecology project: a progress report2007Ingår i: Proceedings of the ICRA-07 Workshop on Network Robot Systems. Roma, Italy, 2007, 2007, s. 16-22Konferensbidrag (Refereegranskat)
    Abstract [en]

    The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. While this concept provides great potential, it also presents a number of new scientific challenges. The PEIS-Ecology project is an ongoing collaborative project between Swedish and Korean researchers which addresses these challenges. In this paper we introduce the concept of PEIS-Ecology, discuss its potential and its challenges, and present our current steps toward its realization. We also point to experimental results that show the viability of this concept.

  • 169.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för teknik.
    Broxvall, Mathias
    Örebro universitet, Institutionen för teknik.
    Seo, Beom-Su
    Cho, Young-Jo
    The PEIS-ecology project: a progress report2007Konferensbidrag (Refereegranskat)
    Abstract [en]

    The concept of Ecology of Physically Embedded Intelligent

    Systems, or Peis-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. While this concept provides great potential, it also presents a number of new scientific challenges.

    The Peis-Ecology project is an ongoing collaborative pro ject between Swedish and Korean researchers which addresses these challenges. In this paper we introduce the concept of Peis-Ecology, discuss its potential and its challenges, and present our current steps toward its realization. We also point to experimental results that show the viability of this concept.

  • 170.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för teknik.
    Driankov, Dimiter
    Örebro universitet, Institutionen för teknik.
    Duckett, Tom
    Örebro universitet, Institutionen för teknik.
    A system for vision based human-robot interaction2004Konferensbidrag (Refereegranskat)
    Abstract [en]

    We describe our initial steps toward the realization of a robotic system for assisting fire-fighting and rescue services. The system implements the concept of shared autonomy between the robot and the human operator: the mobile robot performs local navigation, sensing and mapping, while the operator interprets the sensor data and provides strategic navigation goals.

  • 171.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för teknik.
    LeBlanc, Kevin
    Örebro universitet, Institutionen för teknik.
    Active perceptual anchoring of robot behavior in a dynamic environment2000Ingår i: IEEE international conference on robotics and automation, ICRA '00: proceedings, 2000, s. 3796-3802Konferensbidrag (Refereegranskat)
    Abstract [en]

    Perceptual anchoring is the process of linking action to the appropriate objects in the environment via perception. The pivot of anchoring is the inclusion of micro-models of the world, or anchors, into a controller. In this paper, we propose to use anchors to focus the perceptual effort according to the current needs of the controller. We describe an active gaze control strategy able to maintain anchoring of several objects in a dynamic environment, and show how we have used it in a team of legged robots in the RoboCup'99 international robot soccer competition

  • 172.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Akademin för naturvetenskap och teknik.
    SOFTEC: the Swedish open facility for technology in elder care2010Ingår i: International Conference on Ageing, Disability and Independence, 2010Konferensbidrag (Övrigt vetenskapligt)
  • 173.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för teknik.
    Ruspini, Enrique H.
    Global team coordination by local computation2001Konferensbidrag (Refereegranskat)
    Abstract [en]

    Desirability functions are an effective way to define group and individual objectives of a team of cooperating mobile robots. By combining desirability functions, we can identify the individual actions that best satisfy both sets of objectives. Combination, however, is global, posing high demands in terms of communication and computation resources. In this paper, we investigate a technique to perform this combination using local computations. Simulated experiments suggest that, under conditions of spatial locality, team control by local computation achieves the same performance than using a global technique

  • 174.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för teknik.
    Ruspini, Enrique H.
    Konolige, Kurt
    Using fuzzy logic for mobile robot control1999Ingår i: Practical applications of fuzzy technologies / [ed] Hans-Jürgen Zimmermann, Kluwer Academic, MA , 1999, s. 185-205Kapitel i bok, del av antologi (Övrigt vetenskapligt)
    Abstract [en]

    The development of techniques for autonomous operation in real-world, unstructured environments constitutes one of the major trends in the current research on mobile robotics. In spite of recent advances, a number of fundamental difficulties remain. In this chapter, we discuss how fuzzy logic techniques can be used to address some of these difficulties. To illustrate the discussion, we describe the fuzzy-logic solutions developed on Flakey, the mobile robot of SRI International

  • 175.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    van der Zant, Tijn
    CEO at RoboLect, CTO at SIM-CI, the Netherlands.
    The Impact of RoCKIn on Robotics2017Ingår i: RoCKIn: Benchmarking Through Robot Competitions / [ed] Pedro Lima, INTECH, 2017, s. 1-5Kapitel i bok, del av antologi (Refereegranskat)
  • 176.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för teknik.
    Wasik, Zbigniew
    Örebro universitet, Institutionen för teknik.
    Using hierarchical fuzzy behaviors in the RoboCup domain2003Ingår i: Autonomous robotic systems / [ed] Changjiu Zhou, Dario Maravall, Da Ruan, Janusz Kacprzyk, Heidelberg: Physica Verlag, 2003, Vol. 116, s. 235-262Kapitel i bok, del av antologi (Refereegranskat)
    Abstract [en]

    An important reason for the popularity of the behavior-based paradigm in autonomous robotics is the possibility to design complex robot behaviors in an incremental way. We propose a fuzzy hierarchical behavior-based architecture, in which rules and meta-rules are used in a uniform way at all levels of the control hierarchy. This architecture has been successfully used in a number of robots performing autonomous navigation tasks. In this paper, we show the use of hierarchical fuzzy behaviors to implement a set of navigation and ball control behaviors for a Sony four-legged robot operating in the RoboCup domain. We also show that the logical structure of the rules and the hierarchical decomposition simplify the design of very complex behaviors, like the "GoalKeeper" behavior.

  • 177.
    Saffiotti, Alessandro
    et al.
    Örebro universitet, Institutionen för teknik.
    Zumel, N. B.
    Ruspini, Enrique H.
    Multi-robot team coordination using desirabilities2000Ingår i: Proceedings of the 6th international conference on intelligent autonomous systems: IAS, 2000, s. 107-114Konferensbidrag (Refereegranskat)
    Abstract [en]

    Desirability functions are an effective way to express and implement complex behavior coordination strategies inside a single robot. In this paper, we extend the desirability function approach to deal with behaviors of teams of robots. We show that desirability functions offer a convenient tool to incorporate and blend individual objectives and team objectives. We illustrate our approach on two significant problems of team coordination: reactive formation motion control, and collaborative searching and tracking.

  • 178.
    Sanfeliu, Alberto
    et al.
    Institut de Robòtica I Informàtica Industrial (UPC-CSIC), Universitat Politècnica de Catalunya, Barcelona, Spain.
    Hagita, Norihiro
    Saffiotti, Alessandro
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Network Robot Systems2008Ingår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 56, nr 10, s. 793-797Artikel i tidskrift (Refereegranskat)
    Abstract [en]

     This article introduces the definition of Network Robot Systems (NRS) as is understood in Europe, USA and Japan. Moreover, it describes some of the NRS projects in Europe and Japan and presents a summary of the papers of this Special Issue.  

  • 179. Sanfeliu, Alberto
    et al.
    Hagita, Norihiro
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Special issue: Network robot systems2008Ingår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 56, nr 10, s. 791-791Artikel i tidskrift (Refereegranskat)
  • 180.
    Sathyakeerthy, Subhash
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Di Rocco, Maurizio
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Scaling up ubiquitous robotic systems from home to town (and beyond)2013Ingår i: UbiComp '13 Adjunct Proceedings of the 2013 ACM conference on Pervasive and ubiquitous computing adjunct publication, Association for Computing Machinery (ACM), 2013, s. 107-110Konferensbidrag (Refereegranskat)
  • 181.
    Seeman, Mattias
    et al.
    Örebro universitet, Institutionen för teknik.
    Broxvall, Mathias
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Virtual 360° panorama for remote inspection2007Ingår i: IEEE international workshop on safety, security and rescue robotics, SSRR 2007, New York: IEEE , 2007, s. 1-5Konferensbidrag (Refereegranskat)
    Abstract [en]

    The use of remotely operated robotic systems in security related applications is becoming increasingly popular. However, the direct teleoperation interfaces commonly used today put a large amount of cognitive burden on the operators, thus seriously reducing the efficiency and reliability of these systems. In the context of an adjustable autonomy control architecture meant to relieve operators from unnecessary low-level tasks, we present an user interface technique for 360° virtual panorama video as a perception aid to increase the situation awareness in tele-operation tasks, and as a block in the overall adjustable autonomy control architecture. At the hardware level, we rely on the intrinsic autonomy and robustness provided by the spherical morphology of our GroundBot robot. The work presented here is a step towards the overall goal of increasing the effectiveness of the GroundBot robot for remote inspection tasks.

  • 182.
    Seeman, Mattias
    et al.
    Örebro universitet, Institutionen för teknik.
    Broxvall, Mathias
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Wide, Peter
    Örebro universitet, Institutionen för teknik.
    An autonomous spherical robot for security tasks2006Ingår i: 2006 IEEE International Conference on Computational Intelligence for Homeland Security and Personal Safety, 2006, s. 51-55Konferensbidrag (Refereegranskat)
    Abstract [en]

    The use of remotely operated robotic systems in security related applications is becoming increasingly popular However, the direct teleoperation interfaces commonly used today put a large amount of cognitive burden on the operators, thus seriously reducing the efficiency and reliability of these systems. We present an approach to alleviate this problem by exploiting both software and hardware autonomy. At the software level, we propose a variable autonomy control architecture that dynamically adapts the degree of autonomy of the robot in terms of control, perception, and interaction. At the hardware level, we rely on the intrinsic autonomy and robustness provided by the spherical morphology of our Ground-Bot robot. We also present a prototype system for facilitating the interaction between human operators and robots using our control architecture. This work is specifically aimed at increasing the effectiveness of the GroundBot robot for remote inspection tasks

  • 183. Seo, Beom-Su
    et al.
    Broxvall, Mathias
    Örebro universitet, Institutionen för teknik.
    Gritti, Marco
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Using Javaspace for a PEIS ecology2006Ingår i: Intelligent Autonomous Systems 9 - IAS-9, 2006, s. 831-838Konferensbidrag (Refereegranskat)
    Abstract [en]

    The ecology of Physically Embedded Intelligent Systems (PEIS) is a new multirobotic framework conceived by integrating insights from the fields of autonomous robotics and ambient intelligence. A PEIS-Ecology is a network of intelligent robotic devices that can provide the user with assistance, information, communication, and entertainment services. In this paper we introduce the concept of PEIS Ecology, and we investigate about the use of JAVASPACE to build a middleware infrastructure that meets its special requirements. At the end, we illustrate a concrete realization of a PEIS-Ecology we implemented using JAVASPACE as a communication middleware.

  • 184.
    Sgorbissa, Antonio
    et al.
    University of Genova, Genova, Italy.
    Papadopoulos, Irena
    Middlesex University, London, UK.
    Papadopoulos, Chris
    University of Bedfordshire, Luton, UK.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Pandey, Amit Kumar
    SoftBank Robotics Europe, Paris, France .
    Merton, Len
    Advinia HelthCare, London, UK.
    Chong, Nak Young
    JAIST, Kanazawa, Japan .
    Kamide, Hiroko
    Nagoya University, Nagoya, Japan.
    Lee, Jaeryoung
    Chubu University, Kasugai, Japan.
    Battistuzzi, Linda
    University of Genova, Genova, Italy.
    Menicatti, Roberto
    University of Genova, Genova, Italy.
    Koulouglioti, Christina
    University of Bedfordshire. Luton, UK.
    Randhawa, Gurch
    Univ Bedfordshire, Luton, Beds, England..
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kanoria, Sanjeev
    Advinia HelthCare, London, UK.
    Lim, Yuto
    JJAIST, Kanazawa, Japan.
    Mastrolonardo, Raffaele
    Effecinque, Genova, Italy.
    CARESSES: The Flower that Taught Robots about Culture2019Ingår i: HRI '19: 2019 14TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION, IEEE , 2019, s. 371-371, artikel-id 8673086Konferensbidrag (Refereegranskat)
    Abstract [en]

    The video describes the novel concept of "culturally competent robotics", which is the main focus of the project CARESSES (Culturally-Aware Robots and Environmental Sensor Systems for Elderly Support). CARESSES a multidisciplinary project whose goal is to design the first socially assistive robots that can adapt to the culture of the older people they are taking care of. Socially assistive robots are required to help the users in many ways including reminding them to take their medication, encouraging them to keep active, helping them keep in touch with family and friends. The video describes a new generation of robots that will perform their actions with attention to the older person's customs, cultural practices and individual preferences.

  • 185.
    Simoens, Pieter
    et al.
    IDLab, Ghent University – imec, Ghent, Belgium.
    Dragone, Mauro
    Research Institute of Signals, Sensors and Systems (ISSS), Heriot-Watt University, Edinburgh, United Kingdom.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    The Internet of Robotic Things: A review of concept, added value and applications2018Ingår i: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 15, nr 1, artikel-id 1729881418759424Artikel, forskningsöversikt (Refereegranskat)
    Abstract [en]

    The Internet of Robotic Things is an emerging vision that brings together pervasive sensors and objects with robotic and autonomous systems. This survey examines how the merger of robotic and Internet of Things technologies will advance the abilities of both the current Internet of Things and the current robotic systems, thus enabling the creation of new, potentially disruptive services. We discuss some of the new technological challenges created by this merger and conclude that a truly holistic view is needed but currently lacking.

  • 186. Sossai, Claudio
    et al.
    Chemello, Gaetano
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    A note on the role of logic in fuzzy logic controllers2000Ingår i: Proceedings of the 8th international conference on information processing and management of uncertainty, 2000, s. 717-723Konferensbidrag (Refereegranskat)
    Abstract [en]

    We give an account of (Mamdani-type) fuzzy controllers based on a version of possibilistic logic, called Local Possibilistic Logic (LPL). To find a logical interpretation of fuzzy controllers, we show: (i) how to translate fuzzy statements and fuzzy control rules into LPL formulae, (ii) how to compute the fuzzy relation that characterizes the controller using the proof system of LPL, and (iii) how to apply this relation to a given input using the compositional rule of inference, which is derived in LPL.

  • 187.
    Tomic, Stevan
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Martinoli, Alcherio
    Ecole Polytech Fédérale Lausanne, Lausanne, Switzerland.
    Wasik, Alicja
    Institute for Systems and Robotics, Lisbon, Portugal.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lima, Pedro U.
    Institute for Systems and Robotics, Lisbon, Portugal.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Towards Institutions for Mixed Human-Robot Societies2018Ingår i: Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, (AAMAS' 18), Association for Computing Machinery (ACM), 2018, s. 2216-2217Konferensbidrag (Refereegranskat)
    Abstract [en]

    We report an exploration into normative reasoning for robots in human societies using the concept of institutions.

  • 188.
    Tomic, Stevan
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Too cool for school: adding social constraints in human aware planning2014Ingår i: CogRob 2014: The 9th International Workshop on Cognitive Robotics, 2014Konferensbidrag (Refereegranskat)
    Abstract [en]

    Robots operating in the presence of humans should adapt their plans and behavior accordingly. The recent area of human-aware planning (HAP) addresses this problem. In this paper, we propose a method for extending HAP to so-called Socially Aware planning. We build on known principles for human context recognition, extending them to support different social situations. In this new paradigm, we are able to define social norms and rules which are taken into account by the planning mechanism to obtain plans consisting of socially adjusted behaviors.

  • 189.
    Vermesan, Ovidiu
    et al.
    SINTEF, Trondheim, Norway.
    Bröring, Arne
    SIEMENS AG, München, Germany.
    Tragos, Elias
    National University of Ireland, Galway, Ireland.
    Serrano, Martin
    National University of Ireland, Galway, Ireland.
    Bacciu, Davide
    University of Pisa, Pisa, Italy.
    Chessa, Stefano
    University of Pisa, Pisa, Italy.
    Gallicchio, Claudio
    University of Pisa, Pisa, Italy.
    Micheli, Alessio
    University of Pisa, Pisa, Italy.
    Dragone, Mauro
    Heriot-Watt University, Edinburgh, UK.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Simoens, Pieter
    Ghent University, Ghent, Belgium.
    Cavallo, Filippo
    Scuola Superiore Sant’Anna, Pisa, Italy.
    Bahr, Roy
    SINTEF, Trondheim, Norway.
    Internet of robotic things: converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms2017Ingår i: Cognitive Hyperconnected Digital Transformation: Internet of Things Intelligence Evolution / [ed] Ovidiu Vermesan,‎ Joel Bacquet, River Publishers, 2017, s. 97-155Kapitel i bok, del av antologi (Refereegranskat)
    Abstract [en]

    The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications.

  • 190.
    Wasik, Alicja
    et al.
    Distributed Intelligent Systems and Algorithms Laboratory, School of Archiecture, Civil and Environmental Engineering, École Polytechnique Fédérale de Lausanne, Switzerland.
    Tomic, Stevan
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Martinoli, Alcherio
    Distributed Intelligent Systems and Algorithms Laboratory, School of Archiecture, Civil and Environmental Engineering, École Polytechnique Fédérale de Lausanne, Switzerland.
    Lima, Pedro U.
    Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Portugal.
    Towards Norm Realization in Institutions Mediating Human-Robot Societies2018Ingår i: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2018, s. 297-304Konferensbidrag (Refereegranskat)
    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.

  • 191.
    Wasik, Zbigniew
    et al.
    Örebro universitet.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    A behavior-based control system for mobile manipulation2005Manuskript (preprint) (Övrigt vetenskapligt)
  • 192.
    Wasik, Zbigniew
    et al.
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    A fuzzy behavior-based control system for manipulation2002Ingår i: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, 2002, s. 1596-1601Konferensbidrag (Refereegranskat)
    Abstract [en]

    Behavior-based approaches to robot control are extremely popular in mobile robotics, but still rarely used for manipulation. We propose a behavior-based system that performs manipulation tasks using visual feedback. The distinctive points of our proposal are: (i) visual behaviors are implemented using a new camera-based approach; (ii) reactive fuzzy rules are used to arbitrate behaviors; and (iii) the outputs of concurrent behaviors are fused using fuzzy logic. We show experiments on a real arm performing a pick-and-place task that illustrate our approach and demonstrate its advantages over current approaches.

  • 193.
    Wasik, Zbigniew
    et al.
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    A hierarchical behavior-based approach to manipulation tasks2003Ingår i: IEEE International Conference on Robotics and Automation: Proceedings : ICRA '03., 2003, s. 2780-2785Konferensbidrag (Refereegranskat)
    Abstract [en]

    Typical mobile robots can be customized to perform a variety of different tasks by combining in different ways a set of basic control modules, or behaviors. By contrast, most current systems for manipulation are still designed for just one specific task. In this paper, we propose a hierarchical behavior-based system that can perform several vision-based manipulation tasks by using different combinations of the same set of basic behaviors. Behaviors can run concurrently, and they are arbitrated through "if-then" rules. We show experiments involving object tracking, grasping and placing, both with static and moving objects.

  • 194.
    Wasik, Zbigniew
    et al.
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Robust color segmentation for the RoboCup domain2002Ingår i: Proceedings 16th International Conference on Pattern Recognition, 2002, 2002, s. 651-654Konferensbidrag (Refereegranskat)
    Abstract [en]

    Color segmentation is crucial in robotic applications, such as RoboCup, where the relevant objects can be distinguished by their color. In these applications, real-time performance and robustness are primary concerns. We present a hybrid method for color segmentation based on seeded region growing (SRG) in which the initial seeds are provided by a conservative threshold color segmentation. The key to the robustness of our approach is to use multiple seeds to perform local blob growing, and then merge blobs that belong to the same region. We have implemented our technique on a team of Sony AIBO 4-legged robots, and have successfully tested it in the RoboCup 2001 competition

  • 195.
    Wasik, Zbigniew
    et al.
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Using hierarchical fuzzy behaviors for manipulation2003Ingår i: Proc. of the World Congress of the Int. Fuzzy Systems Association, 2003Konferensbidrag (Refereegranskat)
    Abstract [en]

    Behavior-based systems have become extremely popular in autonomous robotics. These systems are typically used to control robots with few degrees of fredom (DOF), like mobile platforms. We propose a behaviorbased system able to control a complex plant with several DOF. The key to deal with complexity is the use of fuzzy logic techniques to compose simple behaviors into more complex ones. In this paper, we illustrate our approach on a 5DOF real manipulator, on which several tasks are performed using the same set of basic behaviors.

  • 196.
    Wasik, Zbigniew
    et al.
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Using hierarchical fuzzy behaviors for manipulation2003Konferensbidrag (Refereegranskat)
    Abstract [en]

    Behavior-based systems have become extremely popular in autonomous robotics. These systems are typically used to control robots with few degrees of fredom (DOF), like mobile platforms. We propose a behavior-based system able to control a complex plant with several DOF. The key to deal with complexity is the use of fuzzy logic techniques to compose simple behaviors into more complex ones. In this paper, we illustrate our approach on a 5 DOF real manipulator, on which several tasks are performed using the same set of basic behaviors.

  • 197.
    Wide, Peter
    et al.
    Örebro universitet, Institutionen för teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för teknik.
    Bothe, Hans-Heinrich
    Environmental exploration: an autonomous sensory systems approach1999Ingår i: IEEE Instrumentation & Measurement Magazine, ISSN 1094-6969, E-ISSN 1941-0123, Vol. 2, nr 3, s. 28-32Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    The purpose of this article is to demonstrate new paradigms in the analysis and design of virtual instrumentation in autonomous sensor systems. By autonomous sensor systems we mean mobile as well as immobile systems that employ a vast array of sensors to analyze or influence dynamic and uncertain external changes. These systems must perform operations in real time, in both expected and unexpected situations, using only limited human intervention. An autonomous sensor system can be used to collect data about a complex and dynamic environment, to perform interpretation and fusion of this data, and to present the resulting information to a human operator in a synthetic form that highlights features of interest of the environment. The system can then be regarded as a virtual instrument. A useful form to organize and present this information is a virtual spatial map-a representation of the environment in which colored geometric figures are placed to indicate that a given feature (or event) has been detected at that location. We illustrate our approach of building virtual instruments by presenting a case study of semi-autonomous remote environmental exploration. A mobile platform gathers information about a remote environment using multi-modal sensor data collection, information processing, and data fusion at different levels of abstraction and resolution. The result of the exploration is a fused virtual map that contains the important features of the environment

  • 198.
    Zhang, Liwei
    et al.
    University of Hamburg, Hamburg, Germany.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Zhang, Jianwei
    University of Hamburg, Hamburg, Germany.
    Evaluation metrics for an experience-based mobile artificial cognitive system2014Ingår i: 11th World Congress on Intelligent Control and Automation (WCICA2014), Springer Berlin/Heidelberg, 2014, s. 2225-2232Konferensbidrag (Refereegranskat)
    Abstract [en]

    In this paper, an FIM (Fitness to Ideal Model)and a DLen (Description Length) based evaluation approachhas been developed to measure the benefit of learning from experienceto improve the robustness of the robot’s behavior. Theexperience based mobile artificial cognitive system architectureis briefly described and adopted by a PR2 service robot withinthe EU-FP7 funded project RACE. The robot conducts typicaltasks of a waiter. Temporal and lasting obstacles and standardtable items, as shown in the demonstrations of “Deal-withobstacles”and “Clear-table-intelligently”, are being adoptedin this work to test the proposed evaluation metrics, validateit on a real PR2 robot system and present the evaluationresults. The relationship between the FIM and DLen has beenvalidated. This work proposes an effective approach to evaluatea cognitive service robot system which enhances its performanceby learning.

1234 151 - 198 av 198
RefereraExporteraLänk till träfflistan
Permanent länk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf