7,615 research outputs found
Closed loop interactions between spiking neural network and robotic simulators based on MUSIC and ROS
In order to properly assess the function and computational properties of
simulated neural systems, it is necessary to account for the nature of the
stimuli that drive the system. However, providing stimuli that are rich and yet
both reproducible and amenable to experimental manipulations is technically
challenging, and even more so if a closed-loop scenario is required. In this
work, we present a novel approach to solve this problem, connecting robotics
and neural network simulators. We implement a middleware solution that bridges
the Robotic Operating System (ROS) to the Multi-Simulator Coordinator (MUSIC).
This enables any robotic and neural simulators that implement the corresponding
interfaces to be efficiently coupled, allowing real-time performance for a wide
range of configurations. This work extends the toolset available for
researchers in both neurorobotics and computational neuroscience, and creates
the opportunity to perform closed-loop experiments of arbitrary complexity to
address questions in multiple areas, including embodiment, agency, and
reinforcement learning
Managing a Fleet of Autonomous Mobile Robots (AMR) using Cloud Robotics Platform
In this paper, we provide details of implementing a system for managing a
fleet of autonomous mobile robots (AMR) operating in a factory or a warehouse
premise. While the robots are themselves autonomous in its motion and obstacle
avoidance capability, the target destination for each robot is provided by a
global planner. The global planner and the ground vehicles (robots) constitute
a multi agent system (MAS) which communicate with each other over a wireless
network. Three different approaches are explored for implementation. The first
two approaches make use of the distributed computing based Networked Robotics
architecture and communication framework of Robot Operating System (ROS) itself
while the third approach uses Rapyuta Cloud Robotics framework for this
implementation. The comparative performance of these approaches are analyzed
through simulation as well as real world experiment with actual robots. These
analyses provide an in-depth understanding of the inner working of the Cloud
Robotics Platform in contrast to the usual ROS framework. The insight gained
through this exercise will be valuable for students as well as practicing
engineers interested in implementing similar systems else where. In the
process, we also identify few critical limitations of the current Rapyuta
platform and provide suggestions to overcome them.Comment: 14 pages, 15 figures, journal pape
IMPLEMENTATION OF A LOCALIZATION-ORIENTED HRI FOR WALKING ROBOTS IN THE ROBOCUP ENVIRONMENT
This paper presents the design and implementation of a human–robot interface capable of evaluating robot localization performance and maintaining full control of robot behaviors in the RoboCup domain. The system consists of legged robots, behavior modules, an overhead visual tracking system, and a graphic user interface. A human–robot communication framework is designed for executing cooperative and competitive processing tasks between users and robots by using object oriented and modularized software architecture, operability, and functionality. Some experimental results are presented to show the performance of the proposed system based on simulated and real-time information. </jats:p
Inside the robot’s mind during human-robot interaction
Humans and robots collaborating and cooperating for pursuing a shared objective need to rely on the other for carrying out an effective decision process and for updating knowledge when necessary in a dynamic environment. Robots have to behave as they were human teammates. To model the cognitive process of robots during the interaction, we developed a cognitive architecture that we implemented employing the BDI (belief, desire, intention) agent paradigm. In this paper, we focus on how to let the robot show to the human its reasoning process and how its knowledge on the work environment grows. We realized a framework whose heart is a simulator that serves the human as a window on the robot’s mind
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