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27th RoboCup International Symposium, 2024

作者： Tschesche, Matteo Hofmann, Till Ferrein, Alexander Lakemeyer, Gerhard Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Sciences Aachen Germany Knowledge-Based Systems Group RWTH Aachen University Aachen Germany

ISBN: (纸本)9783031858581

Visual servoing is a well-established technique for object grasping and controls the robot in a closed-loop fashion. It typically uses hand-crafted features or a neural network that directly learns the control output. We propose an alternative approach that uses an off-the-shelf neural network object classifier and can therefore compute target poses without manually selected features while also not requiring training from scratch. Instead, the object classifier only needs to be fine-tuned on a domain-specific dataset, significantly reducing the amount of required training data. We describe a task sequencing approach that can control a robot with a mobile base and an additional gripper, which is a typical setup in many robotics applications. We evaluate the approach in the RoboCup Logistics League and demonstrate the reliability and speed of the proposed approach. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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A ROS 2-based Navigation and Simulation Stack for the Robotino

A ROS 2-Based Navigation and Simulation Stack for the Rob...

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27th RoboCup International Symposium, 2024

作者： Borse, Saurabh Viehmann, Tarik Ferrein, Alexander Lakemeyer, Gerhard The Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Science Aachen52066 Germany Knowledge-Based Systems Group RWTH Aachen University Aachen52074 Germany

ISBN: (纸本)9783031858581

The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS 2 integration for the Robotino available. In this paper we describe our work on a Webots simulation environment for a Robotino platform extended by LIDAR sensors. A ROS 2 integration and a pre-configured setup for localization and navigation using existing ROS packages from the Nav2 suite is provided. We validate our setup by comparing simulations with real-world experiments conducted by three Robotinos in a logistics environment in our lab. Additionally, we tested the setup using a ROS 2 hardware driver for the Robotino developed by team GRIPS of the RoboCup Logistics League. The results demonstrate the feasibility of using ROS 2 and Nav2 for navigation tasks on the Robotino platform showing great consistency between simulation and real-world performance. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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Laser-based localization with sparse landmarks

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作者： Strack, Andreas Ferrein, Alexander Lakemeyer, Gerhard Robotics Group Department for Mathematics and Computer Science University of Bremen Bremen Germany Knowledge-based Systems Groups RWTH Aachen Aachen Germany

ISBN: (纸本)9783540354376

Self-localization in dynamic environments is a central problem in mobile robotics and is well studied in the literature. One of the most popular methods is the Monte Carlo Localization algorithm (MCL). Many deployed systems use MCL together with a laser range finder in well structured indoor environments like office buildings with a rather rich collection of landmarks. In symmetric environments like robotic soccer with sparse landmarks which are occluded by other robots, most of the time the standard method does not yield satisfying results. In this paper we propose a new heuristic weight function to integrate a full 360° sweep from a laser range finder and introduce so-called don't-care regions which allow to ignore some parts of the environment. The proposed method is not specific to robotic soccer and scales very well outside the soccer domain. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Office buildings

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Decision-theoretic planning with linguistic terms in GOLOG

Decision-theoretic planning with linguistic terms in GOLOG

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Workshop on Fuzzy Logic in AI, FLinAI 2015 - co-located with the 24th International Joint Conference on Artificial Intelligence, IJCAI 2015

作者： Schiffer, Stefan Ferrein, Alexander Knowledge-Based Systems Group RWTH Aachen University Aachen Germany Aachen University of Applied Sciences Mobile Autonomous Systems and Cognitive Robotics Institute Aachen Germany

In this paper we propose an extension of the action language GOLOG that integrates linguistic terms in non-deterministic argument choices and the reward function for decision-theoretic planning. It is often cumbersome to specify the set of values to pick from in the non-deterministic-choice-of-argument statement. Also, specifying a reward function is not always easy, even for domain experts. Instead of providing a finite domain for values in the non-deterministic-choice-of-argument statement in GOLOG, we now allow for stating the argument domain by simply providing a formula over linguistic terms and fuzzy fluents. In GOLOG's forwardsearch DT planning algorithm, these formulas are evaluated in order to find the agent's optimal policy. We illustrate this in the Diner Domain where the agent needs to calculate the optimal serving order.

关键词： Linguistics

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Decision-Theoretic Planning with Fuzzy Notions in GOLOG

Decision-Theoretic Planning with Fuzzy Notions in GOLOG

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作者： Schiffer, Stefan Ferrein, Alexander Knowledge-Based Systems Group RWTH Aachen University Aachen Germany FH Aachen University of Applied Sciences Mobile Autonomous Systems and Cognitive Robotics Institute Aachen Germany

In this paper we present an extension of the action language Golog that allows for using fuzzy notions in non-deterministic argument choices and the reward function in decision-theoretic planning. Often, in decision-theoretic planning, it is cumbersome to specify the set of values to pick from in the non-deterministic-choice-of-argument statement. Also, even for domain experts, it is not always easy to specify a reward function. Instead of providing a finite domain for values in the non-deterministic-choice-of-argument statement in Golog, we now allow for stating the argument domain by simply providing a formula over linguistic terms and fuzzy uents. In Golog's forward-search DT planning algorithm, these formulas are evaluated in order to find the agent's optimal policy. We illustrate this in the Diner Domain where the agent needs to calculate the optimal serving order. © 2016 World Scientific Publishing Company.

关键词： Fuzzy logic

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Portable high-level agent programming with golog++ 13

Portable high-level agent programming with golog++

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13th International Conference on Agents and Artificial Intelligence, ICAART 2021

作者： Mataré, Victor Viehmann, Tarik Hofmann, Till Lakemeyer, Gerhard Ferrein, Alexander Schiffer, Stefan Institute for Mobile Autonomous Systems and Cognitive Robotics FH Aachen University of Applied Sciences Aachen Germany Knowledge-based Systems Group RWTH Aachen University Aachen Germany

ISBN: (纸本)9789897584848

We present golog++, a high-level agent programming and interfacing framework that offers a temporal constraint language to explicitly model layer-penetrating contingencies in low-level platform behavior. It can be used to maintain a clear separation between an agent's domain model and certain quirks of its execution platform that affect problem solving behavior. Our system reasons about the execution of an abstract (i.e. exclusively domain-bound) plan on a particular execution platform. This way, we avoid compounding the complexity of the planning problem while improving the modularity of both golog++ and the user code. On a run-through example from the well-known blocksworld domain, we demonstrate the entire process from domain modeling and platform modeling to plan transformation and platform-specific plan execution. © 2021 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Robot programming

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Constraint-based online transformation of abstract plans into executable robot actions

Constraint-based online transformation of abstract plans int...

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2018 AAAI Spring Symposium

作者： Hofmann, Till Mataré, Victor Schiffer, Stefan Ferrein, Alexander Lakemeyer, Gerhard Knowledge-Based Systems Group RWTH Aachen University Aachen52056 Germany Mobile Autonomous Systems and Cognitive Robotics FH Aachen University of Applied Sciences Aachen52066 Germany

In this paper, we are concerned with making the execution of abstract action plans for robotic agents more robust. To this end, we propose to model the internals of a robot system and its ties to the actions that the robot can perform. based on these models, we propose an online transformation of an abstract plan into executable actions conforming with system specifics. With our framework, we aim to achieve two goals. First, modeling the system internals is beneficial in its own right in order to achieve long term autonomy, system transparency, and comprehensibility. Second, separating the system details from determining the course of action on an abstract level leverages the use of planning for actual robotic systems. © 2018 AI Access Foundation. All rights reserved.

关键词： Robot programming

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Monocular Localization in Feature-Annotated 3D Polygon Maps

Monocular Localization in Feature-Annotated 3D Polygon Maps

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European Conference on Mobile Robots (ECMR)

作者： Alexander Mock Thomas Wiemann Joachim Hertzberg Knowledge Based Systems and Autonomous Robotics Groups at the Institute of Computer Science Osnabrück University Osnabrück Germany German Research Center for Artificial Intelligence (DFKI) Niedersachsen Lab Plan-Based Robot Control Group Osnabrück Germany

Localization in six degrees of freedom is becoming increasingly relevant, especially in indoor environments where GPS is not available. To localize autonomous vehicles like UAVs in such areas, reliable methods for self-localization with low-weight sensors are required. In this paper, we present an approach to precisely localize systems with monocular cameras in polygonal 3D maps annotated with keypoints and feature descriptors computed from LiDAR data and associated reference images. Our contribution consists of offline map computation from high resolution 3D point clouds with corresponding reference images as well as online localization within these maps using low cost sensors. During localization, features extracted from the vehicle’s camera image stream are matched against the reference map. The proposed method is capable of real-time localization and suitable for precise global localization. The evaluation shows comparable results to state of the art with high re-localization accuracy.

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Detecting spatio-temporal Relations by Combining a Semantic Map with a Stream Processing Engine

Detecting spatio-temporal Relations by Combining a Semantic ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Lennart Niecksch Henning Deeken Thomas Wiemann German Research Center for Artificial Intelligence (DFKI) DFKI Niedersachsen Plan-based Robot Control Group Osnabrück Germany Knowledge Based Systems and Autonomous Robotics groups Institute of Computer Science Osnabrück University Osnabrück Germany

Changes in topological spatial relations of objects are often strong indicators for state transitions in the underlying processes they are involved in. While various aspects of semantic mapping have been extensively researched, the reasoning about the temporal development of spatial relations of instances is often neglected. This paper presents a concept to combine a semantic map with a stream processing framework for live analysis of the spatio-temporal relation of objects, based on the map and information inferred from sensors streams. To demonstrate the functionality of our concept, we implemented a proof-of-concept system to track everyday events in an office environment. The presented application scenario clearly demonstrates the benefits of the proposed architecture for detecting and handling complex spatio-temporal events.

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A ROS~2-based Navigation and Simulation Stack for the Robotino

arXiv

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arXiv 2024年

The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS 2 integration for the Robotino available. In this paper we describe our work on a Webots simulation environment for a Robotino platform extended by LIght Detection And Ranging (LIDAR) sensors. A ROS 2 integration and a pre-configured setup for localization and navigation using existing ROS packages from the Nav2 suite is provided. We validate our setup by comparing simulations with real-world experiments conducted by three Robotinos in a logistics environment in our lab. Additionally, we tested the setup using a ROS 2 hardware driver for the Robotino developed by team GRIPS of the RoboCup Logistics League. The results demonstrate the feasibility of using ROS 2 and Nav2 for navigation tasks on the Robotino platform showing great consistency between simulation and real-world performance. © 2024, CC BY.

关键词： Optical radar

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