Agent and object aware tracking and mapping methods for mobile manipulators

The age of the intelligent machine is upon us. They exist in our factories, our warehouses, our military, our hospitals, on our roads, and on the moon. Most of these things we call robots. When placed in a controlled or known environment such as an automotive factory or a distribution warehouse they perform their given roles with exceptional efficiency, achieving far more than is within reach of a humble human being. Despite the remarkable success of intelligent machines in such domains, they have yet to make a full-hearted deployment into our homes. The missing link between the robots we have now and the robots that are soon to come to our houses is perception. Perception as we mean it here refers to a level of understanding beyond the collection and aggregation of sensory data. Much of the available sensory information is noisy and unreliable, our homes contain many reflective surfaces, repeating textures on large flat surfaces, and many disruptive moving elements, including humans. These environments change over time, with objects frequently moving within and between rooms. This idea of change in an environment is fundamental to robotic applications, as in most cases we expect them to be effectors of such change. We can identify two particular challenges1 that must be solved for robots to make the jump to less structured environments - how to manage noise and disruptive elements in observational data, and how to understand the world as a set of changeable elements (objects) which move over time within a wider environment. In this thesis we look at one possible approach to solving each of these problems. For the first challenge we use proprioception aboard a robot with an articulated arm to handle difficult and unreliable visual data caused both by the robot and the environment. We use sensor data aboard the robot to improve the pose tracking of a visual system when the robot moves rapidly, with high jerk, or when observing a scene with little visual variation. For the second challenge, we build a model of the world on the level of rigid objects, and relocalise them both as they change location between different sequences and as they move. We use semantics, image keypoints, and 3D geometry to register and align objects between sequences, showing how their position has moved between disparate observations.Open Acces

Linguistic Diversity and Disparity in the Periphery

This thesis uses methods of linguistic ethnography to explore linguistic diversity and disparity in the global periphery. In terms of diversity, it investigates how language users nurture their translingual identities by engaging in creative translingual practices, and relocalising everyday communicative resources. In terms of disparity, it examines the challenges of Culturally and Linguistically Diverse migrant communities in Australia in cases when their translingual identity becomes grounds for lin

10081 Abstracts Collection -- Cognitive Robotics

From 21.02. to 26.02.2010, the Dagstuhl Seminar 10081 ``Cognitive Robotics \u27\u27 was held in Schloss Dagstuhl~--~Leibniz Center for Informatics. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. The first section describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available

Localisation and Resilience at the local level: the case of Transition Town Totnes

This thesis provides a critical review of the Transition movement, a grassroots response to peak oil and climate change, co-founded by this author. It focuses on two key aspects of the Transition approach, resilience and economic relocalisation, with the aim of analysing whether and how they can be implemented in a locality based on the Transition approach, and assessing what socio-economic and community-related structures would be necessary to implement such a process. The focus of the research is Totnes, Devon, which because of its status as the UK’s first Transition initiative and the longer history of various initiatives to promote local resilience, offers a valuable case study of attempts to practically implement resilience and localisation. A variety of research methods were employed, including surveys, focus groups, oral history and in-depth interviews, as well less conventional public participation methods such as Open Space and World Café. The first major finding was that Transition Town Totnes (TTT) has become a significant organisation in the town, with a high level of popular support. It was also found that the obstacles to resilience and relocalisation lie not, as was hypothesised, in a lack of skills or an absence of community cohesion, but in issues of governance and the need for increased social entrepreneurship. It was found that what researchers call the ‘Value Action Gap’ (i.e. the gap between people’s declared sympathies and intentions and their actions) exists in Totnes as much as anywhere else, but that some of TTT’s projects, such as ‘Transition Together’, are working imaginatively to overcome this and to reduce emissions. From this evidence is it concluded that Transition’s approach towards relocalisation and reducing carbon emissions can be argued to be effective in, generating engagement and initiating new enterprises. Like other ‘green’ initiatives, it struggles to engage those from more disadvantaged backgrounds, but some of its initiatives are showing promise for overcoming this. Its primary contribution is in suggesting a redefining of resilience, not as a state of preparedness for disaster, but as a desired characteristic of a sustainable society. A more resilient community, it is argued, would be one more in control of its food and energy production, as well as being one that enables inward financial investment. It also argues that the government focus on ‘localism’, the devolving of political power to the local level, ought to be expanded to include ‘localisation’, the strengthening of local production to meet local needs, a shift which would financially benefit local communities. It argues that the key challenge for Transition initiatives such as TTT is going to be scaling up from being ‘niche’ organisations to become economically viable organisations with a broad appeal and engagement, and also articulates the need for ‘Resilience Indicators’ which would allow communities to measure the degree to which their levels of resilience are increasing.Economic and Social Research Council