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IEEE International Conference on Robotics and Automation (ICRA)

作者： Krzysztof Charusta Robert Krug Todor Stoyanov Dimitar Dimitrov Boyko Iliev Center of Applied Autonomous Sensor Systems (AASS) Örebro University Sweden

The synthesis and evaluation of multi-fingered grasps on complex objects is a challenging problem that has received much attention in the robotics community. Although several promising approaches have been developed, applications to real-world systems are limited to simple objects or gripper configurations. The paradigm of Independent Contact Regions (ICRs) has been proposed as a way to increase the tolerance to grasp positioning errors. This concept is well established, though only on precise geometric object models. This work is concerned with the application of the ICR paradigm to models reconstructed from real-world range data. We propose a method for increasing the robustness of grasp synthesis on uncertain geometric models. The sensitivity of the ICR algorithm to noisy data is evaluated and a filtering approach is proposed to improve the quality of the final result.

关键词： Robot sensing systems Computational modeling Image reconstruction Prototypes Manipulators Cameras

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Point set registration through minimization of the L2 distance between 3D-NDT models

Point set registration through minimization of the L2 distan...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Todor Stoyanov Martin Magnusson Achim J. Lilienthal Center of Applied Autonomous Sensor Systems (AASS) Örebro University Sweden

Point set registration-the task of finding the best fitting alignment between two sets of point samples, is an important problem in mobile robotics. This article proposes a novel registration algorithm, based on the distance between Three-Dimensional Normal Distributions Transforms. 3D-NDT models - a sub-class of Gaussian Mixture Models with uniformly weighted, largely disjoint components, can be quickly computed from range point data. The proposed algorithm constructs 3D-NDT representations of the input point sets and then formulates an objective function based on the L 2 distance between the considered models. Analytic first and second order derivatives of the objective function are computed and used in a standard Newton method optimization scheme, to obtain the best-fitting transformation. The proposed algorithm is evaluated and shown to be more accurate and faster, compared to a state of the art implementation of the Iterative Closest Point and 3D-NDT Point-to-Distribution algorithms.

关键词： Iterative closest point algorithm Gaussian distribution Approximation methods Measurement Entropy Vectors Computational modeling

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Independent Contact Regions based on a patch contact model

Independent Contact Regions based on a patch contact model

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Krzysztof Charusta Robert Krug Dimitar Dimitrov Boyko Iliev Center of Applied Autonomous Sensor Systems (AASS) Örebro University Sweden

The synthesis of multi-fingered grasps on nontrivial objects requires a realistic representation of the contact between the fingers of a robotic hand and an object. In this work, we use a patch contact model to approximate the contact between a rigid object and a deformable anthropomorphic finger. This contact model is utilized in the computation of Independent Contact Regions (ICRs) that have been proposed as a way to compensate for shortcomings in the finger positioning accuracy of robotic grasping devices. We extend the ICR algorithm to account for the patch contact model and show the benefits of this solution.

关键词： Robots Humans Indexes Force Computational modeling Grasping Geometry

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On Mission-Dependent Coordination of Multiple Vehicles under Spatial and Temporal Constraints

On Mission-Dependent Coordination of Multiple Vehicles under...

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IEEE/RSJ International Conference on Intelligent Robotics and systems

作者： Federico Pecora Marcello Cirillo Dimitar Dimitrov Center for Applied Autonomous Sensor Systems ?rebro University SE-70182 Sweden

ISBN: (纸本)9781467317375

Coordinating multiple autonomous ground vehicles is paramount to many industrial applications. Vehicle trajectories must take into account temporal and spatial requirements, e.g., usage of floor space and deadlines on task execution. In this paper we present an approach to obtain sets of alternative execution patterns (called trajectory envelopes) which satisfy these requirements and are conflict-free. The approach consists of multiple constraint solvers which progressively refine trajectory envelopes according to mission requirements. The approach leverages the notion of least commitment to obtain easily revisable trajectories for execution.

关键词： according spatial Coordinating

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Independent Markov Chain Occupancy Grid Maps for Representation of Dynamic Environments

Independent Markov Chain Occupancy Grid Maps for Representat...

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IEEE/RSJ International Conference on Intelligent Robotics and systems

作者： Jari Saarinen Henrik Andreasson Achim J. Lilienthal Aalto University Department of Automation and Systems Technology PO.Box 15500 FI-00076 Aalto. Center of Applied Autonomous Sensor Systems (AASS) ?rebro University Sweden

ISBN: (纸本)9781467317375

In this paper we propose a new grid based approach to model a dynamic environment. Each grid cell is assumed to be an independent Markov chain (iMac) with two states. The state transition parameters are learned online and modeled as two Poisson processes. As a result, our representation not only encodes the expected occupancy of the cell, but also models the expected dynamics within the cell. The paper also presents a strategy based on recency weighting to learn the model parameters from observations that is able to deal with non-stationary cell dynamics. Moreover, an interpretation of the model parameters with discussion about the convergence rates of the cells is presented. The proposed model is experimentally validated using offline data recorded with a Laser Guided Vehicle (LGV) system running in production use.

关键词： modeled validated using LGV model parameters Poisson process Markov chain Vehicle Occupancy Cells LASER-GUIDED Environments

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Sleep Stage Classification Using Unsupervised Feature Learning

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Advances in Artificial Neural systems 2012年第1期2012卷

作者： Martin Längkvist Lars Karlsson Amy Loutfi Center for Applied Autonomous Sensor Systems Örebro University 701 82 Örebro Swedenoru.se

Most attempts at training computers for the difficult and time-consuming task of sleep stage classification involve a feature extraction step. Due to the complexity of multimodal sleep data, the size of the feature space can grow to the extent that it is also necessary to include a feature selection step. In this paper, we propose the use of an unsupervised feature learning architecture called deep belief nets (DBNs) and show how to apply it to sleep data in order to eliminate the use of handmade features. Using a postprocessing step of hidden Markov model (HMM) to accurately capture sleep stage switching, we compare our results to a feature-based approach. A study of anomaly detection with the application to home environment data collection is also presented. The results using raw data with a deep architecture, such as the DBN, were comparable to a feature-based approach when validated on clinical datasets.

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Sense of presence in a robotic telepresence domain

Sense of presence in a robotic telepresence domain

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Lecture Notes in Computer Science

作者： Kristoffersson, Annica Coradeschi, Silvia Severinson Eklundh, Kerstin Loutfi, Amy Center of Applied Autonomous Sensor Systems Örebro University Sweden School of Computer Science and Communication KTH Sweden

ISBN: (纸本)9783642216626

Robotic telepresence offers a means to connect to a remote location via traditional telepresence with the added value of moving and actuating in that location. Recently, there has been a growing focus on the use of robotic telepresence to enhance social interaction among elderly. However for such technology to be accepted it is likely that the experienced presence when using such a system will be important. In this paper, we present results obtained from a training session with a robotic telepresence system when used for the first time by healthcare personnel. The study was quantitative and based on two standard questionnaires used for presence namely, the Temple Presence Inventory (TPI) and the Networked Minds Social Presence Intentory. The study showed that overall the sense of social richness as perceived by the users was high. The users also had a realistic feeling regarding their spatial presence. © 2011 Springer-Verlag.

关键词： Human robot interaction

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On the Accuracy of the 3D Normal Distributions Transform as a Tool for Spatial Representation

On the Accuracy of the 3D Normal Distributions Transform as ...

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2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Todor Stoyanov Martin Magnusson H(a)kan Almqvist Achim J. Lilienthal Center of Applied Autonomous Sensor Systems (AASS) (O)rebro UniversitySweden

The Three-Dimensional Normal Distributions Transform (3D-NDT) is a spatial modeling technique with applications in point set registration, scan similarity comparison, change detection and path planning. This work concentrates on evaluating three common variations of the 3D-NDT in terms of accuracy of representing sampled semi-structured environments. In a novel approach to spatial representation quality measurement, the 3D geometrical modeling task is formulated as a classification problem and its accuracy is evaluated with standard machine learning performance metrics. In this manner the accuracy of the 3D-NDT variations is shown to be comparable to, and in some cases to outperform that of the standard occupancy grid mapping model.

关键词： Accuracy Gaussian distribution Robot sensing systems Three dimensional displays Sensitivity Interpolation

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Monitoring elderly people with the ROBOCARE domestic environment: Interaction synthesis and user evaluation

Monitoring elderly people with the ROBOCARE domestic environ...

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作者： Cesta, Amedeo Cortellessa, Gabriella Rasconi, Riccardo Pecora, Federico Scopelliti, Massimiliano Tiberio, Lorenza Consiglio Nazionale Delle Ricerche Istituto di Scienze e Tecnologie della Cognizione Via S. Martino della Battaglia 44 I-00185 Rome Italy Center for Applied Autonomous Sensor Systems Örebro University Sweden

This article describes aspects of a fully implemented artificial intelligence (AI) system that integrates multiple intelligent components to actively assist an elderly person at home. Specifically, we describe how constraint-based scheduling technology is used to actively monitor a pattern of activities executed by the person and how detected temporal constraint violations are used to trigger meaningful and contextualized proactive interactions. This article also presents a psychological evaluation of the system focusing on elderly people's attitudes, in which system acceptability, perceived utility, interaction modality, and emotional response are considered. © 2011 Wiley Periodicals, Inc.

关键词： Behavioral research

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A Constraint-Based Approach for Plan Management in Intelligent Environments

A Constraint-Based Approach for Plan Management in Intellige...

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Cognitive Robotics 2010

作者： Pecora, Federico Cirillo, Marcello Center for Applied Autonomous Sensor Systems Örebro University SE-70182 Sweden

In this paper we address the problem of realizing a service-providing reasoning infrastructure for proactive human assistance in intelligent environments. We propose SAM, an architecture which leverages temporal knowledge represented as relations in Allen's interval algebra and constraint-based temporal planning techniques. SAM seamlessly combines two key capabilities for contextualized service provision, namely human activity recognition and planning for controlling pervasive actuation devices. © 2010 Dagstuhl Seminar Proceedings. All rights reserved.

关键词： Intelligent agents

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