Interactive semantic mapping: Experimental evaluation

Robots that are launched in the consumer market need to provide more effective human robot interaction, and, in particular, spoken language interfaces. However, in order to support the execution of high level commands as they are specified in natural language, a semantic map is required. Such a map is a representation that enables the robot to ground the commands into the actual places and objects located in the environment. In this paper, we present the experimental evaluation of a system specifically designed to build semantically rich maps, through the interaction with the user. The results of the experiments not only provide the basis for a discussion of the features of the proposed approach, but also highlight the manifold issues that arise in the evaluation of semantic mapping

Experiments in cooperative human multi-robot navigation

In this paper, we consider the problem of a group of autonomous mobile robots and a human moving coordinately in a real-world implementation. The group moves throughout a dynamic and unstructured environment. The key problem to be solved is the inclusion of a human in a real multi-robot system and consequently the multiple robot motion coordination. We present a set of performance metrics (system efficiency and percentage of time in formation) and a novel flexible formation definition whereby a formation control strategy both in simulation and in real-world experiments of a human multi-robot system is presented. The formation control proposed is stable and effective by means of its uniform dispersion, cohesion and flexibility

Suitable task allocation in intelligent systems for assistive environments

The growing need of technological assistance to provide support to people with special needs demands for systems more and more efficient and with better performances. With this aim, this work tries to advance in a multirobot platform that allows the coordinated control of different agents and other elements in the environment to achieve an autonomous behavior based on the user’s needs or will. Therefore, this environment is structured according to the potentiality of each agent and elements of this environment and of the dynamic context, to generate the adequate actuation plans and the coordination of their execution.Peer ReviewedPostprint (author's final draft

A Depth Space Approach for Evaluating Distance to Objects -- with Application to Human-Robot Collision Avoidance

We present a novel approach to estimate the distance between a generic point in the Cartesian space and objects detected with a depth sensor. This information is crucial in many robotic applications, e.g., for collision avoidance, contact point identification, and augmented reality. The key idea is to perform all distance evaluations directly in the depth space. This allows distance estimation by considering also the frustum generated by the pixel on the depth image, which takes into account both the pixel size and the occluded points. Different techniques to aggregate distance data coming from multiple object points are proposed. We compare the Depth space approach with the commonly used Cartesian space or Configuration space approaches, showing that the presented method provides better results and faster execution times. An application to human-robot collision avoidance using a KUKA LWR IV robot and a Microsoft Kinect sensor illustrates the effectiveness of the approach

Evolutionary robotics and neuroscience

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Generating indicative-informative summaries with SumUM

We present and evaluate SumUM, a text summarization system that takes a raw technical text as input and produces an indicative informative summary. The indicative part of the summary identifies the topics of the document, and the informative part elaborates on some of these topics according to the reader's interest. SumUM motivates the topics, describes entities, and defines concepts. It is a first step for exploring the issue of dynamic summarization. This is accomplished through a process of shallow syntactic and semantic analysis, concept identification, and text regeneration. Our method was developed through the study of a corpus of abstracts written by professional abstractors. Relying on human judgment, we have evaluated indicativeness, informativeness, and text acceptability of the automatic summaries. The results thus far indicate good performance when compared with other summarization technologies

A Proposal for Semantic Map Representation and Evaluation

Semantic mapping is the incremental process of “mapping” relevant information of the world (i.e., spatial information, temporal events, agents and actions) to a formal description supported by a reasoning engine. Current research focuses on learning the semantic of environments based on their spatial location, geometry and appearance. Many methods to tackle this problem have been proposed, but the lack of a uniform representation, as well as standard benchmarking suites, prevents their direct comparison. In this paper, we propose a standardization in the representation of semantic maps, by defining an easily extensible formalism to be used on top of metric maps of the environments. Based on this, we describe the procedure to build a dataset (based on real sensor data) for benchmarking semantic mapping techniques, also hypothesizing some possible evaluation metrics. Nevertheless, by providing a tool for the construction of a semantic map ground truth, we aim at the contribution of the scientific community in acquiring data for populating the dataset

Genetic algorithms with self-organizing behaviour in dynamic environments

Copyright @ 2007 Springer-VerlagIn recent years, researchers from the genetic algorithm (GA) community have developed several approaches to enhance the performance of traditional GAs for dynamic optimization problems (DOPs). Among these approaches, one technique is to maintain the diversity of the population by inserting random immigrants into the population. This chapter investigates a self-organizing random immigrants scheme for GAs to address DOPs, where the worst individual and its next neighbours are replaced by random immigrants. In order to protect the newly introduced immigrants from being replaced by fitter individuals, they are placed in a subpopulation. In this way, individuals start to interact between themselves and, when the fitness of the individuals are close, one single replacement of an individual can affect a large number of individuals of the population in a chain reaction. The individuals in a subpopulation are not allowed to be replaced by individuals of the main population during the current chain reaction. The number of individuals in the subpopulation is given by the number of individuals created in the current chain reaction. It is important to observe that this simple approach can take the system to a self-organization behaviour, which can be useful for GAs in dynamic environments.Financial support was obtained from FAPESP (Proc. 04/04289-6)