Detail publikace

Towards robust personal assistant robots: Experience gained in the SRS project

QIU, R. JI, Z. NOYVIRT, A. SOROKA, A. SETCHI, R. PHAM, D. XU, S. SHIVAROV, N. PIGINI, L. ARBEITER, G. WEISSHARDT, F. GRAF, B. MAST, M. BLASI, L. FACAL, D. ROOKER, M. LOPEZ, R. LI, D. LIU, B. KRONREIF, G. SMRŽ, P.

Originální název

Towards robust personal assistant robots: Experience gained in the SRS project

Typ

článek ve sborníku mimo WoS a Scopus

Jazyk

angličtina

Originální abstrakt

SRS is a European research project for building robust personal assistant robots using ROS (Robotic Operating System) and Care-O-bot (COB) 3 as the initial demonstration platform. In this paper, experience gained while building the SRS system is presented. A main contribution of the paper is the SRS autonomous control framework. The framework is divided into two parts. First, it has an automatic task planner, which initialises actions on the symbolic level. The planner produces proactive robotic behaviours based on updated semantic knowledge. Second, it has an action executive for coordination actions at the level of sensing and actuation. The executive produces reactive behaviours in well-defined domains. The two parts are integrated by fuzzy logic based symbolic grounding. As a whole, they represent the framework for autonomous control. Based on the framework, several new components and user interfaces are integrated on top of COB's existing capabilities to enable robust fetch and carry in unstructured environments. The implementation strategy and results are discussed at the end of the paper.

Klíčová slova

personal assistant robots; ambient assisted living; ROS

Autoři

QIU, R.; JI, Z.; NOYVIRT, A.; SOROKA, A.; SETCHI, R.; PHAM, D.; XU, S.; SHIVAROV, N.; PIGINI, L.; ARBEITER, G.; WEISSHARDT, F.; GRAF, B.; MAST, M.; BLASI, L.; FACAL, D.; ROOKER, M.; LOPEZ, R.; LI, D.; LIU, B.; KRONREIF, G.; SMRŽ, P.

Rok RIV

2012

Vydáno

12. 8. 2012

Nakladatel

Institute of Electrical and Electronics Engineers

Místo

Vilamoura

ISBN

978-1-4673-1737-5

Kniha

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Strany od

1651

Strany do

1657

Strany počet

7

BibTex

@inproceedings{BUT119887,
  author="Renxi {Qiu} and Ze {Ji} and Alexandre {Noyvirt} and Anthony {Soroka} and Rossi {Setchi} and Duc Truong {Pham} and Shuo {Xu} and Naiden {Shivarov} and Lucia {Pigini} and Georg {Arbeiter} and Florian {Weisshardt} and Brigit {Graf} and Marcus {Mast} and Lorenzo {Blasi} and David {Facal} and Martijn {Rooker} and Rafael {Lopez} and Dayou {Li} and Beisheng {Liu} and Gernot {Kronreif} and Pavel {Smrž}",
  title="Towards robust personal assistant robots: Experience gained in the SRS project",
  booktitle="Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
  year="2012",
  pages="1651--1657",
  publisher="Institute of Electrical and Electronics Engineers",
  address="Vilamoura",
  isbn="978-1-4673-1737-5"
}