Artificial Intelligence and Systems Theory: Applied to Cooperative Robots

This paper describes an approach to the design of a population of cooperative robots based on concepts borrowed from Systems Theory and Artificial Intelligence. The research has been developed under the SocRob project, carried out by the Intelligent Systems Laboratory at the Institute for Systems and Robotics - Instituto Superior Tecnico (ISR/IST) in Lisbon. The acronym of the project stands both for "Society of Robots" and "Soccer Robots", the case study where we are testing our population of robots. Designing soccer robots is a very challenging problem, where the robots must act not only to shoot a ball towards the goal, but also to detect and avoid static (walls, stopped robots) and dynamic (moving robots) obstacles. Furthermore, they must cooperate to defeat an opposing team. Our past and current research in soccer robotics includes cooperative sensor fusion for world modeling, object recognition and tracking, robot navigation, multi-robot distributed task planning and coordination, including cooperative reinforcement learning in cooperative and adversarial environments, and behavior-based architectures for real time task execution of cooperating robot teams

Improvement of the sensory and autonomous capability of robots through olfaction: the IRO Project

Proyecto de Excelencia Junta de Andalucía TEP2012-530Olfaction is a valuable source of information about the environment that has not been su ciently exploited in mobile robotics yet. Certainly, odor information can contribute to other sensing modalities, e.g. vision, to successfully accomplish high-level robot activities, such as task planning or execution in human environments. This paper describes the developments carried out in the scope of the IRO project, which aims at making progress in this direction by investigating mechanisms that exploit odor information (usually coming in the form of the type of volatile and its concentration) in problems like object recognition and scene-activity understanding. A distinctive aspect of this research is the special attention paid to the role of semantics within the robot perception and decisionmaking processes. The results of the IRO project have improved the robot capabilities in terms of efciency, autonomy and usefulness.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Towards Odor-Sensitive Mobile Robots

J. Monroy, J. Gonzalez-Jimenez, "Towards Odor-Sensitive Mobile Robots", Electronic Nose Technologies and Advances in Machine Olfaction, IGI Global, pp. 244--263, 2018, doi:10.4018/978-1-5225-3862-2.ch012 Versión preprint, con permiso del editorOut of all the components of a mobile robot, its sensorial system is undoubtedly among the most critical ones when operating in real environments. Until now, these sensorial systems mostly relied on range sensors (laser scanner, sonar, active triangulation) and cameras. While electronic noses have barely been employed, they can provide a complementary sensory information, vital for some applications, as with humans. This chapter analyzes the motivation of providing a robot with gas-sensing capabilities and also reviews some of the hurdles that are preventing smell from achieving the importance of other sensing modalities in robotics. The achievements made so far are reviewed to illustrate the current status on the three main fields within robotics olfaction: the classification of volatile substances, the spatial estimation of the gas dispersion from sparse measurements, and the localization of the gas source within a known environment

Design and implementation of a multi-modal biometric system for company access control

This paper is about the design, implementation, and deployment of a multi-modal biometric system to grant access to a company structure and to internal zones in the company itself. Face and iris have been chosen as biometric traits. Face is feasible for non-intrusive checking with a minimum cooperation from the subject, while iris supports very accurate recognition procedure at a higher grade of invasivity. The recognition of the face trait is based on the Local Binary Patterns histograms, and the Daughman\u2019s method is implemented for the analysis of the iris data. The recognition process may require either the acquisition of the user\u2019s face only or the serial acquisition of both the user\u2019s face and iris, depending on the confidence level of the decision with respect to the set of security levels and requirements, stated in a formal way in the Service Level Agreement at a negotiation phase. The quality of the decision depends on the setting of proper different thresholds in the decision modules for the two biometric traits. Any time the quality of the decision is not good enough, the system activates proper rules, which ask for new acquisitions (and decisions), possibly with different threshold values, resulting in a system not with a fixed and predefined behaviour, but one which complies with the actual acquisition context. Rules are formalized as deduction rules and grouped together to represent \u201cresponse behaviors\u201d according to the previous analysis. Therefore, there are different possible working flows, since the actual response of the recognition process depends on the output of the decision making modules that compose the system. Finally, the deployment phase is described, together with the results from the testing, based on the AT&T Face Database and the UBIRIS database