Robotic ubiquitous cognitive ecology for smart homes

Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent- based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feed- back received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work

Towards reactive navigation and attention skills for 3D intelligent characters

This paper presents a neural design which is able to provide the necessary reactive navigation and attention skills for 3D embodied agents (virtual humanoids or characters). Based on Grossberg’s neural model of conditioning [6], as recently implemented by Chang and Gaudiando [7], and according to the Adaptative Resonance Theory (ART) and the neuroscientific concepts associated, the neural design introduced has been divided in two main phases. Firstly, an environmentcategorization phase, where an on-line pattern recognition and categorization of the current agent sensory input data is carried out by a self organizing neural network, which will finally provide the agent’s short term memory layer(STM). Secondly, and based on the classical conditioning paradigm, the model will associate the interesting STM states, from the navigation or attention points of view, to finally simulate these necessary skills for 3D characters or humanoids. Finally, we will show some experimental navigational results, through the integration of the model presented in 3D virtual environments.Partially supported by the GVA-project CTIDIB-2002-182 (Spain)

Context Aware Computing for The Internet of Things: A Survey

As we are moving towards the Internet of Things (IoT), the number of sensors deployed around the world is growing at a rapid pace. Market research has shown a significant growth of sensor deployments over the past decade and has predicted a significant increment of the growth rate in the future. These sensors continuously generate enormous amounts of data. However, in order to add value to raw sensor data we need to understand it. Collection, modelling, reasoning, and distribution of context in relation to sensor data plays critical role in this challenge. Context-aware computing has proven to be successful in understanding sensor data. In this paper, we survey context awareness from an IoT perspective. We present the necessary background by introducing the IoT paradigm and context-aware fundamentals at the beginning. Then we provide an in-depth analysis of context life cycle. We evaluate a subset of projects (50) which represent the majority of research and commercial solutions proposed in the field of context-aware computing conducted over the last decade (2001-2011) based on our own taxonomy. Finally, based on our evaluation, we highlight the lessons to be learnt from the past and some possible directions for future research. The survey addresses a broad range of techniques, methods, models, functionalities, systems, applications, and middleware solutions related to context awareness and IoT. Our goal is not only to analyse, compare and consolidate past research work but also to appreciate their findings and discuss their applicability towards the IoT.Comment: IEEE Communications Surveys & Tutorials Journal, 201

Integrated information increases with fitness in the evolution of animats

One of the hallmarks of biological organisms is their ability to integrate disparate information sources to optimize their behavior in complex environments. How this capability can be quantified and related to the functional complexity of an organism remains a challenging problem, in particular since organismal functional complexity is not well-defined. We present here several candidate measures that quantify information and integration, and study their dependence on fitness as an artificial agent ("animat") evolves over thousands of generations to solve a navigation task in a simple, simulated environment. We compare the ability of these measures to predict high fitness with more conventional information-theoretic processing measures. As the animat adapts by increasing its "fit" to the world, information integration and processing increase commensurately along the evolutionary line of descent. We suggest that the correlation of fitness with information integration and with processing measures implies that high fitness requires both information processing as well as integration, but that information integration may be a better measure when the task requires memory. A correlation of measures of information integration (but also information processing) and fitness strongly suggests that these measures reflect the functional complexity of the animat, and that such measures can be used to quantify functional complexity even in the absence of fitness data.Comment: 27 pages, 8 figures, one supplementary figure. Three supplementary video files available on request. Version commensurate with published text in PLoS Comput. Bio

Intelligent strategies for mobile robotics in laboratory automation

In this thesis a new intelligent framework is presented for the mobile robots in laboratory automation, which includes: a new multi-floor indoor navigation method is presented and an intelligent multi-floor path planning is proposed; a new signal filtering method is presented for the robots to forecast their indoor coordinates; a new human feature based strategy is proposed for the robot-human smart collision avoidance; a new robot power forecasting method is proposed to decide a distributed transportation task; a new blind approach is presented for the arm manipulations for the robots