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  • 201.
    Daoutis, Marios
    et al.
    Örebro University, School of Science and Technology.
    Coradeschi, Silvia
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Cooperative knowledge based perceptual anchoring2012In: International journal on artificial intelligence tools, ISSN 0218-2130, Vol. 21, no 3, 1250012Article in journal (Refereed)
    Abstract [en]

    In settings where heterogenous robotic systems interact with humans, information from the environment must be systematically captured, organized and maintained in time. In this work, we propose a model for connecting perceptual information to semantic information in a multi-agent setting. In particular, we present semantic cooperative perceptual anchoring, that captures collectively acquired perceptual information and connects it to semantically expressed commonsense knowledge. We describe how we implemented the proposed model in a smart environment, using different modern perceptual and knowledge representation techniques. We present the results of the systemand investigate different scenarios in which we use the common sense together with perceptual knowledge, for communication, reasoning and exchange of information.

  • 202.
    Daoutis, Marios
    et al.
    Örebro University, School of Science and Technology.
    Coradeschi, Silvia
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Grounding commonsense knowledge in intelligent systems2009In: Journal of Ambient Intelligence and Smart Environments, ISSN 1876-1364, E-ISSN 1876-1372, Vol. 1, no 4, 311-321 p.Article in journal (Refereed)
    Abstract [en]

    Ambient environments which integrate a number of sensing devices and actuators intended for use by human users need to be able to express knowledge about objects, their functions and their properties to assist in the performance of everyday tasks. For this to occur perceptual data must be grounded to symbolic information that in its turn can be used in the communication with the human. For symbolic information to be meaningful it should be part of a rich knowledge base that includes an ontology of concepts and common sense. In this work we present an integration between ResearchCyc and an anchoring framework that mediates the connection between the perceptual information in an intelligent home environment and the reasoning system. Through simple dialogues we validate how objects placed in the home environment are grounded by a network of sensors and made available to a larger KB where reasoning is exploited. This first integration work is a step towards integrating the richness of a KRR system developed over many years in isolation, with a physically embedded intelligent system.

  • 203.
    Daoutis, Marios
    et al.
    Örebro University, School of Science and Technology.
    Coradeschi, Silvia
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Integrating common sense in physically embedded intelligent systems2009In: Intelligent environments 2009 / [ed] V. Callaghan, A. Kameas, A. Reyes, D. Royo, M. Weber, Amsterdam: IOS Press , 2009, 212-219 p.Conference paper (Refereed)
    Abstract [en]

    In this paper we describe an implemented framework that integrates knowledge representation and reasoning in a symbiotic system. In such systems a number of heterogeneous sensors pervasively embedded in the environment, mobile robots and humans co-exist and communicate. In this work, the integration is mediated through perceptual anchoring, which creates and maintains the correspondences between the symbol system and the perceptual data that refer to the same physical object. The overall framework is evaluated using ResearchCyc as the knowledge representation and reasoning system, within the context of a physical testbed, which consists of a small apartment-like home.

  • 204.
    Daoutis, Marios
    et al.
    Örebro University, School of Science and Technology.
    Coradeschi, Silvia
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Towards concept anchoring for cognitive robots2012In: Intelligent Service Robotics, ISSN 1861-2784, Vol. 5, no 4, 213-228 p.Article in journal (Refereed)
    Abstract [en]

    We present a model for anchoring categorical conceptual information which originates from physical perception and the web. The model is an extension of the anchoring framework which is used to create and maintain over time semantically grounded sensor information. Using the augmented anchoring framework that employs complex symbolic knowledge from a commonsense knowledge base, we attempt to ground and integrate symbolic and perceptual data that are available on the web. We introduce conceptual anchors which are representations of general, concrete conceptual terms. We show in an example scenario how conceptual anchors can be coherently integrated with perceptual anchors and commonsense information for the acquisition of novel concepts.

  • 205.
    Daoutis, Marios
    et al.
    Örebro University, School of Science and Technology.
    Mavridis, Nikolaos
    Towards a Model for Grounding Semantic Composition2014Conference paper (Refereed)
  • 206.
    Dashti, HesamAddin T.
    et al.
    School of Math and Computer Science, University of Tehran.
    Aghaeepour, NimaSchool of Math and Computer Science, University of Tehran.Asadi, SaharÖrebro University, School of Science and Technology.Bastani, MeysamSchool of Math and Computer Science, University of Tehran.Delafkar, ZahraSchool of Math and Computer Science, University of Tehran.Disfani, Fatemeh M.School of Math and Computer Science, University of Tehran.Ghaderi, Serveh M.School of Math and Computer Science, University of Tehran.Kamali, ShahinSchool of Math and Computer Science, University of Tehran.Pashami, SepidehÖrebro University, School of Science and Technology.Siahpirani, Alireza F.School of Math and Computer Science, University of Tehran.
    Dynamic Positioning based on Voronoi Cells (DPVC)2006Collection (editor) (Refereed)
    Abstract [en]

    In this paper we are proposing an approach for flexible positioning of players in Soccer Simulation in a Multi-Agent environment. We introduce Dynamic Positioning based on Voronoi Cells (DPVC) as a new method for players' positioning which uses Voronoi Diagram for distributing agents in the field. This method also uses Attraction Vectors that indicate agents' tendency to specific objects in the field with regard to the game situation and players' roles. Finally DPVC is compared with SBSP as the conventional method of positioning.

  • 207.
    Department of Computer and Information Science (IDA) Linköpings Universitet, SE - 581 83 Linköping, Sweden, Vivian
    et al.
    Department of Computer and Information Science (IDA) Linköpings Universitet, Linköping, Sweden.
    Olve, Nils-Göran
    Department of Computer and Information Science Linköping University, Sweden .
    Scandurra, Isabella
    Centre for eHealth, Uppsala University, Sweden; Department of Medical Sciences, Uppsala University, Sweden .
    Koch, Sabine
    Centre for eHealth, Uppsala University, Sweden; Department of Medical Sciences, Uppsala University, Sweden .
    Organizational effects of the use of information and communication technology (ICT) in elderly homecare: a case study2008In: Health Informatics Journal, ISSN 1460-4582, E-ISSN 1741-2811, Vol. 14, no 3, 195-209 p.Article in journal (Refereed)
    Abstract [en]

    The use of information and communication technology (ICT) to support integrated healthcare services in elderly homecare is becoming more established. In particular, ICT can enable information exchange, knowledge sharing and documentation at the point-of-care (POC). The aim of this study was to explore these effects using the Old@Home prototype. Old@Home was perceived to contribute in developing horizontal links for communication between individuals who work together, independent of geographical distance or organizational affiliation, and to contribute to increased work efficiency. The prototype was further seen to reduce professional isolation by providing a holistic overview of the care process. User centred design and implementation of Old@Home was considered key to facilitating acceptance of organizational changes. Participation of care professionals not only led to a better understanding of the needs of involved organizations, but also increased end-users' involvement and commitment, stimulating them to test and improve the prototype until the final version.

  • 208.
    Di Lello, Enrico
    et al.
    Dept. of Informatics and Automation, University Roma-3, Italy.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Robotic furniture in a smart environment: the PEIS table2009In: Workshops Proceedings of the 5th International Conference on Intelligent Environments / [ed] Michael Schneider et al., Amsterdam: IOS Press, 2009, 185-192 p.Conference paper (Refereed)
    Abstract [en]

    According to a recent trend, robotic technologies will be included into domestic environments in the form of simple, networked robotic devices able to cooperate in the performance of tasks. These devices may take the form of smart appliances, distributed sensors, or robotic furniture. In this paper, we describe the design of an autonomous robotic table and its inclusion in a smart environment, the PEIS Ecology. The design takes into account the constraints posed by the domestic environment. The robotic table can perform autonomous point-to-point navigation, and it can collaborate with the other devices in the ecology to perform complex tasks that go beyond simple navigation.

  • 209. Di Lello, Enrico
    et al.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    The PEIS table: an autonomous robotic table for domestic environments2011In: Automatika: Journal for Control, Measurement, Electronics, Computing and Communications, ISSN 0005-1144, E-ISSN 1848-3380, Vol. 52, no 3, 244-255 p.Article in journal (Refereed)
    Abstract [en]

    There are two main trends in the area of home and service robotics. The classical one aims at the developmentof a single skilled servant robot, able to perform complex tasks in a passive environment. The second, more recenttrend aims at the achievement of complex tasks through the cooperation of a network of simpler robotic devicespervasively embedded in the domestic environment. This paper contributes to the latter trend by describing the PEISTable, an autonomous robotic table that can be embedded in a smart environment. The robotic table can operatealone, performing simple point-to-point navigation, or it can collaborate with other devices in the environment toperform more complex tasks. Collaboration follows the PEIS Ecology model. The hardware and software designof the PEIS Table are guided by a set of requirements for robotic domestic furniture that differ, to some extent, fromthe requirements usually considered for service robots.

  • 210.
    Di Lello, Enrico
    et al.
    Dept of Informatics and Automation, University Roma-3, Italy.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    The PEIS table: an autonomous robotic table for domestic environments2009Conference paper (Refereed)
    Abstract [en]

    Two main trends are emerging in the area of home and service robotics. The classical one aims at the development of a single skilled servant robot, able to perform complex tasks in a passive environment. The second, more recent trend aims at the achievement of domestic tasks through the cooperation of a network of simpler robotic devices pervasively embedded in the environment. This paper contributes to the latter trend by describing the PEIS Table, a robotic table that can be embedded in a domestic environment and perform autonomous navigation tasks. The PEIS Table can operate alone, or it can be part of a smart robotic environment, based on the concept of PEIS Ecology, and cooperate with other devices to perform more complex tasks. The hardware construction and navigation software of the PEIS Table are guided by a set of requirements for robotic domestic furniture. Interestingly, these are not the same as the requirements usually considered for service robots.

  • 211.
    Di Mauro, Alessio
    et al.
    DTU Compute, Technical University of Denmark, Denmark.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. DTU Compute, Technical University of Denmark, Denmark.
    Adaptive Multipath Key Reinforcement for Energy Harvesting Wireless Sensor Networks2015In: Procedia Computer Science, ISSN 1877-0509, E-ISSN 1877-0509, Vol. 63, 48-55 p.Article in journal (Refereed)
    Abstract [en]

    Energy Harvesting - Wireless Sensor Networks (EH-WSNs) constitute systems of networked sensing nodes that are capable of extracting energy from the environment and that use the harvested energy to operate in a sustainable state. Sustainability, seen as design goal, has a significant impact on the design of the security protocols for such networks, as the nodes have to adapt and optimize their behaviour accordingto the available energy. Traditional key management schemes do not take energy into account, making them not suitable for EH-WSNs. In this paper we propose a new multipath key reinforcement scheme specifically designed for EH-WSNs. The proposed scheme allows each node to take into consideration and adapt to the amount of energy available in the system.In particular, we present two approaches, one static and one fully dynamic, and we discuss some experimental results.

  • 212.
    Di Mauro, Alessio
    et al.
    DTU Compute, Technical University of Denmark, Lyngby, Denmark .
    Fafoutis, Xenofon
    Department of Electrical and Electronic Engineering, University of Bristol, Woodland Road, Bristol, United Kingdom.
    Dragoni, Nicola
    Örebro University, School of Science and Technology.
    Adaptive security in ODMAC for multihop energy harvesting wireless sensor networks2015In: International Journal of Distributed Sensor Networks, ISSN 1550-1329, E-ISSN 1550-1477, 760302Article in journal (Refereed)
    Abstract [en]

    Energy Harvesting Wireless Sensor Networks (EH-WSNs) represent an interesting new paradigm where individual nodes forming a network are powered by energy sources scavenged from the surrounding environment. This technique provides numerous advantages, but also new design challenges. Securing the communications under energy constraints represents one of these key challenges. The amount of energy available is theoretically infinite in the long run but highly variable over short periods of time, and managing it is a crucial aspect. In this paper we present an adaptive approach for security in multihop EH-WSNs which allows different nodes to dynamically choose the most appropriate energy-affecting parameters such as encryption algorithm and key size, providing in this way energy savings. In order to provide evidence of the approach's feasibility in a real-world network, we have designed and implemented it as extension of on-demand medium access control (ODMAC), a receiver-initiated (RI) MAC protocol specifically designed and developed to address the foundational energy-related needs of Energy Harvesting Wireless Sensor Networks.

  • 213.
    Di Rocco, Maurizio
    et al.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    When Robots are Late: Configuration Planning for Multiple Robots with Dynamic Goals2013Conference paper (Refereed)
    Abstract [en]

    Unexpected contingencies in robot execution may induce a cascade of effects, especially when multiple robots are involved. In order to effectively adapt to this, robots need the ability to reason along multiple dimensions at execution time. We propose an approach to closed-loop planning capable of generating configuration plans, i.e., action plans for multirobot systems which specify the causal, temporal, resource and information dependencies between individual sensing, computation, and actuation components. The key feature which enables closed loop performance is that configuration plans are represented as constraint networks, which are shared between the planner and the executor and are continuously updated during execution.We report experiments run both in simulation and on real robots, in which a fault in one robot is compensated through different types of planmodifications at run time.

  • 214.
    Di Rocco, Maurizio
    et al.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Sivakumar, Prasanna Kumar
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Configuration Planning with Multiple Dynamic Goals2013In: Designing intelligent robots: reintegrating AI II. Papers from the AAAI Spring Symposium, AAAI Press, 2013, 12-17 p.Conference paper (Refereed)
    Abstract [en]

    We propose an approach to configuration planning for robotic systems in which plans are represented as constraint networks and planning is defined as search in the space of such networks. The approach supports reasoning about time, resources, and information dependencies between actions. In addition, the system can leverage the flexibility of such networks at execution time to support dynamic goal posting and re-planning.

  • 215.
    Di Rocco, Maurizio
    et al.
    Örebro University, School of Science and Technology.
    Sathyakeerthy, Subhash
    Örebro University, School of Science and Technology.
    Grosinger, Jasmin
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Bonaccorsi, Manuele
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Cavallo, Filippo
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Limosani, Raffaele
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Manzi, Alessandro
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Teti, Giancarlo
    Robotech srl, Italy. Association for the Advancement of Artificial Intelligence.
    Dario, Paolo
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    A Planner for Ambient Assisted Living:From High-Level Reasoning to Low-Level Robot Execution and Back2014In: Papers from the AAAI Spring Symposium, AAAI Press, 2014Conference paper (Refereed)
    Abstract [en]

    Robot ecologies are a growing paradigm in which oneor several robotic systems are integrated into a smartenvironment. Robotic ecologies hold great promises forelderly assistance. Planning the activities of these systems,however, is not trivial, and requires considerationof issues like temporal and information dependenciesamong different parts of the ecology, exogenous actions,and multiple, dynamic goals. We describe a plannerable to cope with the above challenges. We showin particular how this planner has been incorporatedin closed-loop into a full robotic system that performsdaily tasks in support of elderly people. The full robotecology is deployed in a test apartment inside a real residentialbuilding, and it is currently undergoing an extensiveuser evaluation.

  • 216.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    A non-monotonic fuzzy logic.1991In: International Fuzzy Systems Association, Fourth World Congress,1991, 1991Conference paper (Refereed)
  • 217.
    Doherty, Patrick
    et al.
    Linköpings universitet, KPLAB - Laboratoriet för kunskapsbearbetning.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Nonmonotonicity, fuzziness, and multi-values.1993In: Fuzzy Logic: State of the Art. Series D: System Theory, Knowledge Engineering and Problem Solving. / [ed] R. Lowen and M. Roubens, Dordrecht ; Boston: Kluwer Academic Publishers , 1993Chapter in book (Other academic)
    Abstract [en]

      

  • 218.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Hellendoorn, H.
    Fuzzy if-then-unless rules and their implementation.1992In: International Conference on Information Processing and Management of Uncertainty in Knowledge-Based Systems, IPMU92,1992, Springer , 1992Conference paper (Refereed)
  • 219.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Hellendoorn, H.
    Fuzzy if-then-unless rules and their implementation.1992Report (Refereed)
  • 220.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Hellendoorn, Hans
    Fuzzy if-then-unless rules and their implementation1993In: International Journal of Uncertainty Fuzziness and Knowledge-Based Systems, ISSN 0218-4885, Vol. 1, no 2, 167-182 p.Article in journal (Refereed)
    Abstract [en]

    We consider the possibility of generalizing the notion of a fuzzy If-Then rule to take into account its context dependent nature. We interpret fuzzy rules as modeling a forward directed causal relationship between the antecedent and the conclusion, which applies in most contexts, but on occasion breaks down in exceptional contexts. The default nature of the rule is modeled by augmenting the original If-Then rule with an exception part. We then consider the proper semantic correlate to such an addition and propose a ternary relation which satisfies a number of intuitive constraints described in terms of a number of inference rules. In the rest of the paper, we consider implementational issues arising from the unless extension and propose the use of reason maintenance systems, in particular TMS's, where a fuzzy If-Then-Unless rule is encoded into a dependency net. We verify that the net satisfies the constraints stated in the inference schemes and conclude with a discussion concerning the integration of qualitative IN-OUT labelings of the TMS with quantitative degree of membership labelings for the variables in question.

  • 221.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Tsoukias, A.
    Partial logics and partial preferences.1992In: International Conference on Economics/Management and Information Technology,1992, 1992, 525- p.Conference paper (Refereed)
  • 222.
    Doherty, Patrick
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    Tsoukias, A.
    Partiality, para-consistency and preference modeling: Preliminary version.1992Report (Refereed)
  • 223.
    Dragone, Mauro
    et al.
    University College Dublin, Dublin, Ireland.
    Abdel-Naby, Sameh
    University College Dublin, Dublin, Ireland.
    Swords, David
    University College Dublin, Dublin, Ireland.
    O'Hare, Gregory M.P.
    University College Dublin, Dublin, Ireland.
    Broxvall, Mathias
    Örebro University, School of Science and Technology.
    A Programming Framework for Multi-agent Coordination of Robotic Ecologies2013In: Programming Multi-Agent Systems: 10th International Workshop, ProMAS 2012, Valencia, Spain, June 5, 2012, Revised Selected Papers / [ed] Mehdi Dastani, Jomi F. Hübner, Brian Logan, Springer Publishing Company, 2013, 72-89 p.Conference paper (Refereed)
    Abstract [en]

    Building smart environments with Robotic ecologies, comprising of distributed sensors, actuators and mobile robot devices facilitates and extends the nature and form of smart environments that can be developed, and reduces the complexity and cost of such solutions. While the potentials of such an approach makes robotic ecologies increasingly popular, many fundamental research questions remain open. One such question is how to make a robotic ecology self-adaptive, so as to adapt to changing conditions and evolving requirements, and consequently reduce the amount of preparation and pre-programming required for their deployment in real world applications. This paper presents a framework for the specification and the programming of robotic ecologies. The framework extends an existing agent system and integrates it with the pre-existing and dominant traditional robotic and middleware approach to the development of robotic ecologies. We illustrate how these technologies complement each other and offer a candidate technology to pursue adaptive robotic ecologies.

  • 224.
    Dragone, Mauro
    et al.
    Trinity College Dublin, Dublin, Ireland.
    Amato, Giuseppe
    ISTI-CNR, Pisa, Italy.
    Bacciu, Davide
    Università di Pisa, Pisa, Italy.
    Chessa, Stefano
    Università di Pisa, Pisa, Italy.
    Coleman, Sonya
    University of Ulster, Derry, United Kingdom.
    Di Rocco, Maurizio
    Örebro University, School of Science and Technology.
    Gallicchio, Claudio
    Università di Pisa, Pisa, Italy.
    Gennaro, Claudio
    ISTI-CNR, Pisa, Italy.
    Lozano, Hector
    Tecnalia, Bilbao, Spain.
    Maguire, Liam
    University of Ulster, Derry, United Kingdom.
    McGinnity, Martin
    University of Ulster, Derry, United Kingdom.
    Micheli, Alessio
    Università di Pisa, Pisa, Italy.
    O'Hare, Gregory M. P.
    University College Dublin, Ireland.
    Renteria, Arantxa
    Tecnalia, Bilbao, Spain.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Vairo, Claudio
    ISTI-CNR, Pisa, Italy.
    Vance, Philip
    University of Ulster, Derry, United Kingdom.
    A cognitive robotic ecology approach to self-configuring and evolving AAL systems2015In: Engineering applications of artificial intelligence, ISSN 0952-1976, E-ISSN 1873-6769, Vol. 45, 269-280 p.Article in journal (Refereed)
    Abstract [en]

    Robotic ecologies are systems made out of several robotic devices, including mobile robots, wireless sensors and effectors embedded in everyday environments, where they cooperate to achieve complex tasks. This paper demonstrates how endowing robotic ecologies with information processing algorithms such as perception, learning, planning, and novelty detection can make these systems able to deliver modular, flexible, manageable and dependable Ambient Assisted Living (AAL) solutions. Specifically, we show how the integrated and self-organising cognitive solutions implemented within the EU project RUBICON (Robotic UBIquitous Cognitive Network) can reduce the need of costly pre-programming and maintenance of robotic ecologies. We illustrate how these solutions can be harnessed to (i) deliver a range of assistive services by coordinating the sensing & acting capabilities of heterogeneous devices, (ii) adapt and tune the overall behaviour of the ecology to the preferences and behaviour of its inhabitants, and also (iii) deal with novel events, due to the occurrence of new user's activities and changing user's habits.

  • 225.
    Driankov, Dimiter
    et al.
    Linköpings universitet, Tekniska högskolan.
    Doherty, Patrick
    Linköpings universitet, KPLAB - Laboratoriet för kunskapsbearbetning.
    A non-monotonic fuzzy logic1992In: Fuzzy Logic for the Management of Uncertainty / [ed] Lotfi A. Zadeh, Janusz Kacprzyk, New York: John Wiley & Sons , 1992, 171-190 p.Chapter in book (Other academic)
  • 226.
    Driankov, Dimiter
    et al.
    Örebro University, School of Science and Technology.
    Hellendoorn, Hans
    Siemens AG Corporate Research and Development Dept., ZFE ST SN 4 81730 Munich, Germany .
    Chaining of fuzzy IF-THEN rules in Mamdani-controllers1995In: Proceedings of 1995 IEEE International conference on fuzzy systems, Vols I-IV. / [ed] IEEE, IEEE conference proceedings, 1995, 103-108 p.Conference paper (Refereed)
    Abstract [en]

    The problem of chaining of fuzzy IF-THEN rules has so far received a rather theoretic treatment in the literature on approximate reasoning. In particular, different types of composition operators, fuzzy implication operators, etc., have been identified such that the conclusion obtained via a chain of fuzzy rules coincides with the conclusion derived from the “abbreviated” version of the same chain. This “abbreviated” version is a single fuzzy rule which the rule-antecedent is the rule-antecedent of the first rule in the chain, and its rule-consequent is the rule-consequent of the last rule in the chain. However, in the case of more than one chain of rules and when the fuzzy sets defining the meaning of the rule-antecedents and rule-consequents from different chains overlap, then the above theoretical results do not hold in general. In the present paper we identify two major problems with the chaining of fuzzy rules in the case of more than one chain and overlapping rule-antecedents and rule-consequents that belong to different chains

  • 227.
    Driankov, Dimiter
    et al.
    Siemens AG, Munich, Germany.
    Hellendoorn, Hans
    Siemens AG, Munich, Germany.
    Fuzzy logic with unless-rules1992In: IEEE International Conference on Fuzzy Systems, New York, USA: IEEE conference proceedings, 1992, 255-262 p.Conference paper (Refereed)
    Abstract [en]

    Unless-rules are intended to deal with problems of reasoning with incomplete information and/or resource constraints. An unless-rule is proposed to be of the form `if X is A then Y is B unless Z is C'. Such rules are employed in situations in which the conditional statement if X is A then Y is B usually holds and the assertion Z is C holds rarely. Thus, using a rule of this type the exception condition can be ignored when the resources needed to establish its presence are tight or there simply is no information available as to whether it holds or does not hold. In this case of incomplete information, since it is the case that if X is A then Y is B usually holds, one may be willing to jump to the conclusion Y is B given that X is A because no information as to whether Z is C holds is available

  • 228.
    Driankov, Dimiter
    et al.
    Örebro University, School of Science and Technology.
    Hellendoorn,, Hans
    Siemens AG Corporate Research and Development, Otto-Hahn-Ring 6 81730 Munich, Germany .
    Palm, Reiner
    Siemens AG Corporate Research and Development, Otto-Hahn-Ring 6 81730 Munich, Germany .
    Fuzzy control with fuzzy inputs: the need for new rule semantics1994In: Proceedings of the Third IEEE Conference on Fuzzy Systems, 1994. IEEE World Congress on Computational Intelligence, VOLS I-III, IEEE conference proceedings, 1994, 111-114 p.Conference paper (Refereed)
    Abstract [en]

    The standard computation taking place in a fuzzy logic controller proceeds from crisp inputs and via the consecutive steps of fuzzification, inference, and defuzzification computes a crisp control output. However, this computational practice simplifies to an extent the actual developments taking place in the closed loop. In reality, the knowledge about the current values of the controller input is very often available via sensory measurements. In this case, one has to take into account the negative side effects that come up with the use of sensors, in particular the presence of noisy measurements. In the paper the authors consider one particular way of dealing with noisy controller inputs, namely transforming the noise-distribution into a fuzzy set and then feeding back the so obtained fuzzy signal to the controller input. Adopting this approach requires that the shape of the input fuzzy signal should be reflected as much as possible in the output fuzzy signal so that important noise characteristics are preserved. In the paper the authors describe the requirements on the shape of the fuzzy output signal given a certain fuzzy input signal and show that the existing semantics for fuzzy IF-THEN rules do not satisfy these requirements. The authors propose new semantics for such rules which together with max-min composition produces the desired results.

  • 229.
    Driankov, Dimiter
    et al.
    Dept. of Computer Science, University of Linköping, Linköping, Sweden.
    Palm, Rainer
    Siemens AG Corporate Technology, Otto-Hahn-Ring 6 8 1739 Munich, Germany.
    Towards a systematic analysis of fuzzy observers1999In: Proceedings of the  18th International Conference of the North American   Fuzzy Information Processing Society, 1999. NAFIPS. / [ed] Dave, R. N., Sudkamp, T., IEEE conference proceedings, 1999, 179-183 p.Conference paper (Refereed)
    Abstract [en]

    The paper deals with the analysis of local fuzzy observers for nonlinear plants. The plant is approximated by a TS fuzzy model for which a local linear fuzzy observer is designed. This type of fuzzy observer reconstructs the non-measurable states if the parameters of the locally linearized plant are given. Matched uncertainties in the plant model can be eliminated by an additional nonlinear fuzzy sliding mode observer. Conditions are given under which the combination of the linear and the nonlinear observer lead to a reconstruction of non-measurable states                                                                                                                                                      

  • 230.
    Duckett, Tom
    et al.
    Örebro University, Department of Technology.
    Axelsson, Mikael
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Learning to locate an odour source with a mobile robot2001In: IEEE international conference on robotics and automation: ICRA 2001, 2001, 4017-4022 p.Conference paper (Refereed)
    Abstract [en]

    We address the problem of enabling a mobile robot to locate a stationary odour source using an electronic nose constructed from gas sensors. On the hardware side, we use a stereo nose architecture consisting of two parallel chambers, each containing an identical set of sensors. On the software side, we use a recurrent artificial neural network to learn the direction to a stationary source from a time series of sensor readings. This contrasts with previous approaches, that rely on the existence of a model of the sensor's dynamics. The complete system is able to orient and turn towards the source. An experimental validation was carried out to evaluate the performance of the system.

  • 231.
    Duckett, Tom
    et al.
    Lincoln School of Computer Science, University of Lincoln, Brayford Pool, Lincoln, United Kingdom.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Special Issue: Selected Papers from the 5th European Conference on Mobile Robots (ECMR 2011)2013In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 0921-8830, Vol. 61, no 10, 1049-1050 p.Article in journal (Other academic)
  • 232.
    Duckett, Tom
    et al.
    Örebro University, Department of Technology.
    Marsland, Stephen
    University of Manchester.
    Shapiro, Jonathan
    University of Manchester.
    Fast, on-line learning of globally consistent maps2002In: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 12, no 3, 287-300 p.Article in journal (Refereed)
    Abstract [en]

    To navigate in unknown environments, mobile robots require the ability to build their own maps. A major problem for robot map building is that odometry-based dead reckoning cannot be used to assign accurate global position information to a map because of cumulative drift errors. This paper introduces a fast, on-line algorithm for learning geometrically consistent maps using only local metric information. The algorithm works by using a relaxation technique to minimise an energy function over many small steps. The approach differs from previous work in that it is computationally cheap, easy to implement and is proven to converge to a globally optimal solution. Experiments are presented in which large, complex environments were successfully mapped by a real robot.

  • 233.
    Duckett, Tom
    et al.
    Örebro University, Department of Technology.
    Nehmzow, Ulrich
    University of Manchester.
    Mobile robot self-localisation using occupancy histograms and a mixture of Gaussian location hypotheses2001In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 0921-8830, Vol. 34, no 2-3, 117-129 p.Article in journal (Refereed)
    Abstract [en]

    The topic of mobile robot self-localisation is often divided into the sub-problems of global localisation and position tracking. Both are now well understood individually, but few mobile robots can deal simultaneously with the two problems in large, complex environments. In this paper, we present a unified approach to global localisation and position tracking which is based on a topological map augmented with metric information. This method combines a new scan matching technique, using histograms extracted from local occupancy grids, with an efficient algorithm for tracking multiple location hypotheses over time. The method was validated with experiments in a series of real world environments, including its integration into a complete navigating robot. The results show that the robot can localise itself reliably in large, indoor environments using minimal computational resources

  • 234.
    Duckett, Tom
    et al.
    Örebro University, Department of Technology.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Building globally consistent gridmaps from topologies2000In: Proceedings of the 6th international symposium on robot control: IFAC - (SYROCO), 2000, 357-361 p.Conference paper (Refereed)
    Abstract [en]

    This paper addresses the problem of recovering metric consistency in a global gridmap for mobile robot navigation. Gridmaps can only be updated consistently using exact estimates of the robot position, a requirement which is very hard to fulfil in real world environments because the same sensor data must be used for both map building and self-localisation. To overcome this problem, we use a hierarchy of robot maps which integrates topological and grid-based representations. The consistency problem is solved at the topological level, by applying a relaxation technique to generate coordinates for the places in the robot's map. Consequently, the robot is able to recover a globally consistent gridmap without requiring accurate sensors or high computational costs. Experiments on a Nomad 200 robot are presented which demonstrate the efficacy of our approach.

  • 235.
    Dybeck, Markus
    Örebro University, School of Science and Technology.
    Omnia HR En HR-plattform för SharePoint2017Independent thesis Advanced level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Omnia HR is a HR-platform developed for Microsoft SharePoint. In this article, the creation of a smaller part for the platform – the onboarding – is described. When a new employee is hired, the company need to do some tasks before the new employees first day, that’s what the onboarding is all about. In this project conditions to administrate and handle these tasks were made.

     

    The project was written in the programing language TypeScript, developed by Microsoft. TypeScript is superset of JavaScript and is transpiled down to pure JavaScript with support for the latest functions. In this rapport pros and cons by using TypeScript for a project is discussed, and if it actually makes the process easier or if it’s just as good to use regular JavaScript.

  • 236.
    Dyrebrant, Tobias
    Örebro University, School of Science and Technology.
    Utveckling av användargränssnittet för Atlas Copcos portal för samarbete med underleverantörer (SCP)2016Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    When creating a user interface, a developer should base their work on a number of design

    principles. This enables an effective user flow, where the user navigates through the system

    without difficulties. Thereby the user can absorb the information that the system provides to

    the fullest.

     

    These design principles form the basis of the practical work that was carried out for this

    report. The purpose was to develop a web portal, which was used by a company for

    collaboration with its suppliers. By basing the development on the principles, as well as

    interviews with the users, improvements were to be made on the current system. This should

    result in a better user experience and an optimal efficiency of the system.

     

    The practical work was divided into two stages. The first stage involved concrete changes on

    the current system, where smaller adjustments were introduced that could easily be

    implemented on the current web portal. The second stage was about an analysis of the

    market's leading design solutions, which should show existing smart and up-to-date solutions

    that could be used to improve the system. These steps constituted the process of improvement

    work that was to be carried out on the web portal.

     

    The result was a user interface that satisfies the majority of users. Through the objective

    design principles a user friendly system with an efficient user flow was created.

  • 237.
    Edberg, Edward
    Örebro University, School of Science and Technology.
    Proof of Concept av Enterprise Appstore för Windows 82013Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This thesis was a Proof of Concept of how an Enterprise Appstore could be created for Windows 8. It was assigned by Sogeti,which had an interest and a question regarding the possibilities of developing such a product. A need existed for enterprises to be able to distribute their own apps to their employees in a simple way.

     

    The thesis focuseson the management of apps on the client without the use of Windows Store and how the management could be performed without disturbingthe users in their work. Several limitations was found to exist in Windows 8 that presented the challenge of creating such a product.

  • 238.
    Efremova, Natalia
    et al.
    Plekhanov Russian University.
    Kiselev, Andrey
    Örebro University, School of Science and Technology.
    Cognitive Architectures for Optimal Remote Image Representation for Driving a Telepresence Robot2014Conference paper (Refereed)
  • 239.
    EINOLLAHI, AYOUB
    Örebro University, School of Science and Technology.
    Selectivity Enhancement for a TemperatureModulated Electronic Nose using Phase Space andDynamic Moments2012Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    The present work describes an algorithm to enhance selectivity of metal oxide

    (MOX) gas sensors. The main objective is to improve gas discrimination

    performance of MOX sensor using a temperature modulation combined with

    phase space method. Our aim is to achieve a very good gas discrimination performance

    based on a fragment of sensor signal, rather than using the response

    of sensor for entire modulation signal.

    The basic principle behind this thesis work is that investigating in sensor

    response and extracting a segment with high class separability from a full modulation

    cycle of sensor response. The fragment of sensor signal is obtained by

    variable sliding window. A segment that gives more separable classes is taken

    for discriminating between a set of given analytes. In this work we demonstrate

    the developed algorithm with a single, commercially available MOX sensor, Figaro

    TGS 2620, which is temperature modulated with a sinusoidal waveform.

  • 240.
    Enemark, Hans-Jacob
    et al.
    DTU COMPUTE, Technical University of Denmark.
    Zhang, Yue
    Shanghai Key Lab for Trustworthy Computing, East China Normal University, China.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. DTU COMPUTE, Technical University of Denmark.
    Orfanidis, Charalampos
    Department of Information Technology, Uppsala University, Sweden.
    Energy-Efficient Fault-Tolerant Dynamic Event Region Detection in Wireless Sensor Networks2015In: 2015 IEEE 81st Vehicular Technology Conference (VTC Spring): proceedings, IEEE conference proceedings, 2015Conference paper (Refereed)
    Abstract [en]

    Fault-tolerant event detection is fundamental to wireless sensor network applications. Existing approaches usually adopt neighborhood collaboration for better detection accuracy, while need more energy consumption due to communication. Focusing on energy efficiency, this paper makes an improvement to a hybrid algorithm for dynamic event region detection, such as real-time tracking of chemical leakage regions. Considering the characteristics of the moving away dynamic events, we propose a return back condition for the hybrid algorithm from distributed neighborhood collaboration, in which a node makes its detection decision based on decisions received from its spatial and temporal neighbors, to local non-communicative decision making. The simulation results demonstrate that the improved algorithm does not degrade the detection accuracy of the original algorithm, while it has better energy efficiency with the number of messages exchanged in the network decreased.

  • 241.
    Engström, Maria
    et al.
    University of Gävle.
    Scandurra, Isabella
    Centre for eHealth, Uppsala University, Uppsala, Sweden.
    Lindqvist, R
    Ljunggren, B
    Koch, Sabine
    Karolinska University.
    Evaluation of OLD@HOME Virtual Health Record: Staff opinions of the system and satisfaction with work2009In: Telemedicine journal and e-health, ISSN 1530-5627, E-ISSN 1556-3669, Vol. 15, no 1, 53-61 p.Article in journal (Refereed)
    Abstract [en]

    The aim of the present research was to study outcomes of use of the OLD@HOME Virtual Health Record with regard to staff opinions about information, communication technology, and satisfaction with work. A quasi-experimental design was used. Staff opinions about the information and communication technology were assessed using a study-specific questionnaire at the test site (n =22) and at other settings in the municipality (n =172). Staff (n =22) job satisfaction, perceived quality of care, and psychosomatic health were assessed using the Satisfaction with Work Questionnaires before and after a 5-month period of testing the technology in an intervention and a comparison group. Staff opinions about the information and communication technology were significantly more positive at the test site compared to other settings in the municipality. For the total scale of quality of care and the factor documentation, there were significant differences in change scores between intervention and comparison groups, with improvements for the comparison group. For job satisfaction and psychosomatic health, there were no differences in change scores between the groups. Participatory design enhances staff opinions about information and communication technology. However, a 5-month test period showed no benefits regarding staff satisfaction with work when compared to a comparison group. On the contrary, the comparison group improved in documentation, and for the intervention group, there was a trend toward deterioration, which may be due to their knowing how to document, but not having time when using both paper-based and electronic systems.

  • 242.
    Erdis, Sahit
    Örebro University, School of Science and Technology.
    Robot-Assisted Hospital Bed Transport2010Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    The controlling of mobile robots has been and still is in the focus of researchers. Fuzzy rule-based controllers are extensively used to control robots. Path planners were created using different search methods finding the shortest  trajectory between two points and thereby avoiding recorded obstacles. The low degree of automation in hospitals promises huge potential for increasing logistical effects by the use of mobile robots. Especially the automated transport of a hospital bed, which manually requires two persons, would release time from transportation activities. The usage of a mobile robot joined to a hospital bed makes controlling considerably harder. This document describes a project accomplished by me in cooperation with RobCab AB. During the project, a path planner was created and controlling strategies to move a mobile robot joined to a hospital bed between two locations was implemented. The controlling strategies are not only based on sensor readings from a laser mounted on the mobile robot and a list of way points provided by a path planner but incorporates also the position of the bed in the environment. The robot adapts its behavior to ensure a safe movement considering the position of the bed which is not only determined by the kinematics of the robot-bed model but also by an external force in the form of a person following the transport (human intelligence). Development was done on the Stage simulator and is intended to be finally transferred to a real robot platform. Tests done in the simulator showed that the implemented methods are applicable to bring the bed to the desired goal taking into account the reaction of the person following the transport.

  • 243.
    Eriksson, Johan
    Örebro University, School of Science and Technology.
    Gränssnitt för AOD-simulator2016Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    : Being able to simulate an AOD process (Argon, Oxygen andDecarburization) is possible nowadays with help of software. This kind ofsoftware is used for education andresearch for development of stainless steel.

     

    Kobolde & Partners AB is a company that owns this kind of software. This project will further develop this software to enable users to simulate an AOD process with uncertainty in measurement. This allows scientist to get more knowledge how a process measurement results

  • 244.
    Eriksson, Maria
    Örebro University, School of Science and Technology.
    WEB SERVICES FÖR MOBILAPPLIKATIONER: Utveckling av säkra RESTful web services för mobilapplikationer2011Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report describes the development of a RESTful web service for mobile applications. The web service makes resources from an existing system called kompetensdatabasen ("the competence database") available. Kompetensdatabasen holds information about the capabilities of consultants and about assignments carried out at the IT consultant business Nethouse AB.

    The web service was developed according to the principles of REST and ROA (Resource Oriented Architecture) which puts focus on making resources available. The resources are made available through the HTTP protocol and the methods associated with it. This means it was designed to use the same technologies as the world wide web. Following these principles when designing the system has been of great importance.

    To make sure that the service does not leak information to competing companies or violate the Personal Data Act some kind of solution for securing the service had to be implemented. A model for authentication was produced to make the system accessible only for employees of the company.

  • 245.
    Fabrizi, Elisabetta
    et al.
    Università di Roma “La Sapienza”.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Augmenting topology-based maps with geometric information2000In: Proceedings of the 6th international conference on intelligent autonomous systems: IAS, 2000, 604-661 p.Conference paper (Refereed)
    Abstract [en]

    Topology-based maps are a new representation of the workspace of a mobile robot based on the topological notions of connectivity and adjacency. In this paper, we show how to enrich a topology-based map with geometric information useful for planning and navigation. Both the topology-based map and this geometric information are automatically extracted from sensor data.

  • 246. Fabrizi, Elisabetta
    et al.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Behavioral navigation on topology-based maps2000In: Proceedings of the 8th international symposium on robotics with applications, 2000Conference paper (Refereed)
    Abstract [en]

    In order to plan behavior-based navigation strategies, a mobile robot needs information about the connectivity of the space, and about those geometric properties that allow the selection of the adequate behavior in each area. We propose to represent this information by a topology-based map, a graph that encodes the topological structure of the free space in the environment, in which nodes represent large open spaces and arcs represent passages between them. In this paper, we show how to extract a topology-based map from a fuzzy occupancy grid using image processing techniques, and how to use this map for planning behavioral navigation. We illustrate our technique by giving an example of office navigation on a real robot

  • 247. Fabrizi, Elisabetta
    et al.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Extracting topology-based maps from gridmaps2000In: IEEE international conference on robotics and automation, ICRA '00: proceedings, 2000, 2972-2978 p.Conference paper (Refereed)
    Abstract [en]

    We propose topology-based maps as a new representation of the workspace of a mobile robot. These maps capture the structure of the free space in the environment in terms of the basic topological notions of connectivity and adjacency. Topology-based maps can be automatically extracted from an occupancy grid built from sensor data using techniques borrowed from the image processing field. Since these techniques can be soundly defined on fuzzy values, our approach is well suited to deal with the uncertainty inherent in the sensor data. Topology-based maps are fairly robust with respect to sensor noise and to small environmental changes, and have nice computational properties.

  • 248.
    Fan, Han
    et al.
    Örebro University, School of Science and Technology.
    Arain, Muhammad Asif
    Örebro University, School of Science and Technology.
    Hernandez Bennetts, Victor
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Improving Gas Dispersal Simulation For Mobile Robot Olfaction: Using Robotcreatedoccupancy Maps And Remote Gas Sensors In The Simulation Loop2017In: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings, IEEE conference proceedings, 2017, 17013581Conference paper (Refereed)
    Abstract [en]

    Mobile robot platforms equipped with olfaction systems have been used in many gas sensing applications. However, in-field validation of mobile robot olfaction systems is time consuming, expensive, cumbersome and lacks repeatability. In order to address these issues, simulation tools are used. However, the available mobile robot olfaction simulations lack models for remote gas sensors, and the possibility to import geometrical representations of actual real-world environments in a convenient way. In this paper, we describe extensions to an open-source CFD-based filament gas dispersal simulator. These improvements arrow to use robot-created occupancy maps and offer remote sensing capabilities in the simulation loop. We demonstrate the novel features in an example application: we created a 3D map a complex indoor environment, and performed a gas emission monitoring task with a Tunable Diode Laser Absorption Spectroscopy based remote gas sensor in a simulated version of the environment.

  • 249.
    Fan, Han
    et al.
    Örebro University, School of Science and Technology.
    Hernandez Bennetts, Victor
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Unsupervised gas discrimination in uncontrolled environments by exploiting density peaks2016In: 2016 IEEE SENSORS, Institute of Electrical and Electronics Engineers (IEEE), 2016Conference paper (Refereed)
    Abstract [en]

    Gas discrimination with Open Sampling Systems based on low-cost electro-chemical sensor arrays is of great interest in several applications, such as exploration of hazardous areas and environmental monitoring. Due to the lack of labeled training data or the high costs of obtaining them, as well as the presence of unknown interferents in the target environments, supervised learning is often not applicable and thus, unsupervised learning is an interesting alternative. In this work, we present a cluster analysis approach that can infer the number of different chemical compounds and label the measurements in a given uncontrolled environment without relying on previously acquired training data. Our approach is validated with data collected in indoor and outdoor environments by a mobile robot equipped with an array of metal oxide sensors. The results show that high classification accuracy can be achieved with a rather low sensitivity to the selection of the only functional parameter of our proposed algorithm. 

  • 250.
    Fleck, Sven
    et al.
    University of Tübingen.
    Busch, Florian
    University of Tübingen.
    Biber, Peter
    University of Tübingen.
    Strasser, Wolfgang
    University of Tübingen.
    Andreasson, Henrik
    Örebro University, Department of Technology.
    Omnidirectional 3D modeling on a mobile robot using graph cuts2005In: Proceedings of the 2005 IEEE International Converence on Robotics and Automation: ICRA - 2005, 2005, 1748-1754 p.Conference paper (Refereed)
    Abstract [en]

    For a mobile robot it is a natural task to build a 3D model of its environment. Such a model is not only useful for planning robot actions but also to provide a remote human surveillant a realistic visualization of the robot’s state with respect to the environment. Acquiring 3D models of environments is also an important task on its own with many possible applications like creating virtual interactive walkthroughs or as basis for 3D-TV.

    In this paper we present our method to acquire a 3D model using a mobile robot that is equipped with a laser scanner and a panoramic camera. The method is based on calculating dense depth maps for panoramic images using pairs of panoramic images taken from different positions using stereo matching. Traditional 2D-SLAM using laser-scan-matching is used to determine the needed camera poses. To receive high-quality results we use a high-quality stereo matching algorithm – the graph cut method. We describe the necessary modifications to handle panoramic images and specialized post-processing methods.

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