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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Ali Abdul Khaliq Federico Pecora Alessandro Saffiotti AASS Cognitive Robotic Systems Lab Orebro University Sweden

ISBN: (纸本)9781509037636

Reliable autonomous navigation is still a challenging problem for robots with simple and inexpensive hardware. A key difficulty is the need to maintain an internal map of the environment and an accurate estimate of the robot's position in this map. Recently, a stigmergic approach has been proposed in which a navigation map is stored into the environment, on a grid of RFID tags, and robots use it to optimally reach predefined goal points without the need for internal maps. While effective, this approach is limited to a predefined set of goal points. In this paper, we extend this approach to enable robots to travel to any point on the RFID floor, even if it was not previously identified as a goal location, as well as to keep a safe distance from any given critical location. Our approach produces safe, repeatable and quasi-optimal trajectories without the use of internal maps, self localization, or path planning. We report experiments run in a real apartment equipped with an RFID floor, in which a service robot either reaches or avoids a user who wears slippers equipped with an RFID tag reader.

关键词： Navigation Robot sensing systems RFID tags Reliability

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Children playing with robots using stigmergy on a smart floor

Children playing with robots using stigmergy on a smart floo...

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IEEE International Conference on Ubiquitous Intelligence and Computing

作者： Ali Abdul Khaliq Federico Pecora Alessandro Saffiotti AASS Cognitive Robotic Systems Lab Orebro University

ISBN: (纸本)9781509027729

Reliable and safe interaction is essential when humans and robots move in close proximity. In this paper, we present a stigmergic approach where humans interact with robots via a smart floor. Stigmergy has been widely studied in robotic systems, however, HRI has thus far not availed itself of stigmergic solutions. We realize a stigmergic medium via RFID tags embedded in the floor, and use these to enable robot navigation, human tracking, as well as the interaction between robots and humans. The proposed method allows to employ robots with minimal sensing and computation capabilities. The approach relies only on the RFID sensors and the information stored in the tags, and no internal map is required for navigation. We design and implement a prototype game which involves a robot and a child moving together in a shared space. The prototype demonstrates that the approach is reliable and adheres to given safety constraints when human and robot are moving within close proximity of each other.

关键词： Mobile robot navigation Human Robot Interaction Stigmergy in robotics Child Robot Interaction Human following Smart floor RFID technology Safe reliable robot navigation

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Inferring robot goals from violations of semantic knowledge

Inferring robot goals from violations of semantic knowledge

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作者： Galindo, Cipriano Saffiotti, Alessandro Department of System Engineering and Automation University of Málaga Campus de Teatinos Málaga Spain AASS Cognitive Robotic Systems Lab Örebro University Sweden

A growing body of literature shows that endowing a mobile robot with semantic knowledge and with the ability to reason from this knowledge can greatly increase its capabilities. In this paper, we present a novel use of semantic knowledge, to encode information about how things should be, i.e. norms, and to enable the robot to infer deviations from these norms in order to generate goals to correct these deviations. For instance, if a robot has semantic knowledge that perishable items must be kept in a refrigerator, and it observes a bottle of milk on a table, this robot will generate the goal to bring that bottle into a refrigerator. The key move is to properly encode norms in an ontology so that each norm violation results in a detectable inconsistency. A goal is then generated to bring the world back in a consistent state, and a planner is used to transform this goal into actions. Our approach provides a mobile robot with a limited form of goal autonomy: the ability to derive its own goals to pursue generic aims. We illustrate our approach in a full mobile robot system that integrates a semantic map, a knowledge representation and reasoning system, a task planner, and standard perception and navigation routines. © 2012 Elsevier B.V. All rights reserved.

关键词： Ontology

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Inexpensive, reliable and localization-free navigation using an RFID floor

Inexpensive, reliable and localization-free navigation using...

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European Conference on Mobile Robots (ECMR)

作者： Ali Abdul Khaliq Federico Pecora Alessandro Saffiotti AASS Cognitive Robotic Systems Lab Orebro University Orebro Sweden

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

关键词： Navigation Strips RFID tags Robot sensing systems Reliability

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Stigmergy at work: Planning and navigation for a service robot on an RFID floor

Stigmergy at work: Planning and navigation for a service rob...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ali Abdul Khaliq Alessandro Saffiotti AASS Cognitive Robotic Systems Lab Orebro University Orebro Sweden

ISBN: (纸本)9781479969241

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

关键词： Navigation Robot sensing systems RFID tags Buildings

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Fuzzy logic for culture-aware robotics 3

Fuzzy logic for culture-aware robotics

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3rd Italian Workshop on Artificial Intelligence and robotics, AIRO 2016

作者： Bruno, Barbara Mastrogiovanni, Fulvio Pecora, Federico Saffiotti, Alessandro Sgorbissa, Antonio University of Genova Dept. DIBRIS Via Opera Pia 13 Genova16145 Italy Örebro University AASS Cognitive Robotic Systems Lab Fakultetsgatan 1 ÖrebroS-70182 Sweden

In the context of culture-aware robotics, we propose a method for the explicit, on-line mapping between cultural variables and robot behaviour parameters which relies on the linguistic variable formalism, fuzzy clustering and the principles of fuzzy controllers. As a case study, we consider the adaptation of the Human-Robot conversational distance to Hofstede's cultural dimension of Individualism. © 2017, CEUR-WS. All rights reserved.

关键词： Human robot interaction

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A multi-modal sensing framework for human activity recognition 2

A multi-modal sensing framework for human activity recogniti...

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2nd Italian Workshop on Artificial Intelligence and robotics, AIRO 2015

作者： Bruno, Barbara Grosinger, Jasmin Mastrogiovanni, Fulvio Pecora, Federico Saffiotti, Alessandro Sathyakeerthy, Subhash Sgorbissa, Antonio University of Genova Dept. DIBRIS Via Opera Pia 13 Genova16145 Italy Orebro University AASS Cognitive Robotic Systems Lab Fakultetsgatan 1 ÖrebroS-70182 Sweden

Robots for the elderly are a particular category of home assistive robots, helping people in the execution of daily life tasks to extend their independent life. Such robots should be able to determine the level of independence of the user and track its evolution over time, to adapt the assistance to the person capabilities and needs. We present an heterogeneous information management framework, allowing for the description of a wide variety of human activities in terms of multi-modal environmental and wearable sensing data and providing accurate knowledge about the user activity to any assistive robot. Copyright © 2015 for the individual papers by the papers' authors.

关键词： Robots

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Semantic norms for mobile robots: When the end does not justify the means

Semantic norms for mobile robots: When the end does not just...

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10th IFAC Symposium on Robot Control, SYROCO 2012

作者： Galindo, C. Saffiotti, A. System Engineering and Automation Dpt. University of Málaga Campus de Teatinos E-29071 Málaga Spain AASS Cognitive Robotic Systems Lab. Örebro University Sweden

ISBN: (纸本)9783902823113

This paper deals with the use of semantic knowledge to improve the intelligence and autonomous behavior of a mobile robot. A robot can exploit the semantics of its environment to infer new, implicit information. Another interesting possibility is to use semantics for detecting deviations between the real world and what is supposed to be "normal". For instance, normative semantic knowledge may state that towels should stay in the bathroom. If a robot detects a towel in the kitchen, it can react and decide to solve this inconsistency by bringing it to the bathroom. However not all ways to solve an inconsistency are acceptable: for instance, if the robot put the towel temporarily on a dirty sink in order to re-grasp it with the other arm, it would violate another norm - namely, that towels should always stay on a clean surface. In this work we present an algorithm that detects and recovers from norm violations, according to a semantic representation of norms, and ensures the normative acceptability of the robot actions throughout execution. © 2012 IFAC.

关键词： Knowledge representation

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Semantic Norms for Mobile Robots: When the end does not justify the means

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IFAC Proceedings Volumes 2012年第22期45卷 84-89页

作者： C. Galindo A. Saffiotti System Engineering and Automation Dept University of Málaga Spain AASS Cognitive Robotic Systems Lab Örebro University Sweden

This paper deals with the use of semantic knowledge to improve the intelligence and autonomous behavior of a mobile robot. A robot can exploit the semantics of its environment to infer new, implicit information. Another interesting possibility is to use semantics for detecting deviations between the real world and what is supposed to be “normal”. For instance, normative semantic knowledge may state that towels should stay in the bathroom. If a robot detects a towel in the kitchen, it can react and decide to solve this inconsistency by bringing it to the bathroom. However not all ways to solve an inconsistency are acceptable: for instance, if the robot put the towel temporarily on a dirty sink in order to re-grasp it with the other arm, it would violate another norm – namely, that towels should always stay on a clean surface. In this work we present an algorithm that detects and recovers from norm violations, according to a semantic representation of norms, and ensures the normative acceptability of the robot actions throughout execution.

关键词： Semantic maps Mobile robotics Goal autonomy Normative constraints Knowledge representation Description logic Ontology Planning

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Two ways to make your robot proactive: reasoning about human intentions, or reasoning about possible futures

arXiv

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arXiv 2022年

作者： Buyukgoz, Sera Grosinger, Jasmin Chetouani, Mohamed Saffiotti, Alessandro SoftBank Robotics Europe Paris France Sorbonne University Institute for Intelligent Systems and Robotics CNRS UMR 7222 Paris France AASS Cognitive Robotic Systems Lab School of Science and Technology Orebro University Orebro Sweden

Robots sharing their space with humans need to be proactive in order to be helpful. Proactive robots are able to act on their own initiative in an anticipatory way to benefit humans. In this work, we investigate two ways to make robots proactive. One way is to recognize human's intentions and to act to fulfill them, like opening the door that you are about to cross. The other way is to reason about possible future threats or opportunities and to act to prevent or to foster them, like recommending you to take an umbrella since rain has been forcasted. In this paper, we present approaches to realize these two types of proactive behavior. We then present an integrated system that can generate proactive robot behavior by reasoning on both factors: intentions and predictions. We illustrate our system on a sample use case including a domestic robot and a human. We first run this use case with the two separate proactive systems, intention-based and prediction-based, and then run it with our integrated system. The results show that the integrated system is able to take into account a broader variety of aspects that are needed for proactivity. © 2022, CC BY.

关键词： Human robot interaction

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