30 research outputs found
Secure dynamic community establishment in coalitions
Accepted versio
A representation of robotic behaviors using component port arbitration
Presented at DSLRob 2014 (arXiv:cs/1411.7148)Developing applications considering reactiveness, scalability and re-usability has always been at the center of attention of robotic researchers. Behavior-based architectures have been proposed as a programming paradigm to develop robust and complex behaviors as integration of simpler modules whose activities are directly modulated by sensory feedback or input from other models. The design of behavior based systems, however, becomes increasingly difficult as the complexity of the application grows. This article proposes an approach for modeling and coordinating behaviors in distributed architectures based on port arbitration which clearly separates representation of the behaviors from the composition of the software components. Therefore, based on different behavioral descriptions, the same software components can be reused to implement different applications
Ameliorating Patient-Caregiver Stigma in Early-Stage Parkinson's Disease using Robot co-Mediators
Facial masking in early stage Parkinson’s disease
leads to a well-documented deterioration (stigmatization) in the
patient-caregiver relationship. This research described in this paper is concerned with preserving dignity in that bond where
otherwise it might be lost, through the use of a robot co-mediator
that will be capable of monitoring the human-human relationship
for lack of congruence in the perceived emotional states of the parties concerned. This paper describes the component
architectural modules that are being used in support of this 5-year effort, including an ethical architecture developed earlier for the military and previous research on affective companion robots
for Sony and Samsung that are able to express affective state through kinesics and proxemics
MASL: a Language for Multi-Agent System
The classical approach for Multi-Agent System (MAS) Control, especially autonomous and robotic ones, deals first from a microscopic point of view: each agent embed a control program with communication/synchronization primitives that enable cooperation between agents. The emergence of a global behaviour from a macroscopic point of view can only be observed afterwards. In this context, MASL offers a macroscopic and unified approach with heterogeneous and distributed calculations over deliberative, reactive or hybrid agents. In this high level language, regardless of the runtime, each concurrent agent locally decides its participation in a collective execution block named an e-block. Each e-block is an anonymous collective program that runs over an agent network following local conditions. The orchestral mode (scalar, asynchronous, synchronous) is statically fixed by a shared block attribute. The communication use shared memory, events, synchronous messages passing, and asynchronous messages passing. Heterogeneous agents are managed with heritage and polymorphism. Permeability mechanism, dealing with agent autonomy, allows an agent to dynamically filter calls to its interface in respects to the sender position in the e-block hierarchy. In dynamic task allocation of agents, auto failover and recovery, agent replacement in a robot fleet (case of agent failure, loss of a mandatory functionality for the mission) an e-block is an entry point of a collaborative work. In the case of synchronous e-block, the programming paradigm is the data parallel model with iterative task for waves of agents. Finally, MASL offers advances in the field of MAS (dynamic belonging to groups, accuracy of the pace of actions to undertake to enable a desired cooperation) and for the management of errors
Multi-Robot User Interface Modeling
This paper investigates the problem of user interface design and
evaluation for autonomous teams of heterogeneous mobile robots. We explore
an operator modeling approach to multi-robot user interface evaluation.
Specifically the authors generated GOMS models, a type of user model, to
investigate potential interface problems and to guide the interface
development process. Results indicate that our interface design changes
improve the usability of multi-robot mission generation substantially. We
conclude that modeling techniques such as GOMS can play an important role
in robotic interface development. Moreover, this research indicates that these
techniques can be performed in an inexpensive and timely manner, potentially
reducing the need for costly and demanding usability studies