A deliberation layer for instantiating robot execution plans from abstract task descriptions

Abstract in tex

Integrazione di Roboearth su ROS per la condivisione di conoscenza e azioni per robot. Integration of Roboearth in ROS for the sharing of knowledge and robot actions

Ad oggi risulta indispensabile l’intervento dell’uomo nella gestione delle attività dei robot. Alcuni recenti progetti fanno tuttavia pensare ad un trend che sempre più minimizza lo sforzo umano nelle procedure di robot-learning. Grazie alle moderne tecnologie informatiche, ora i robot sono in grado di connettersi autonomamente ad Internet per cercare e condividere informazioni di diversa natura, attraverso opportune risorse pensate esclusivamente a questo scopo. Tali risorse sono attualmente raccolte in un progetto innovativo, chiamato Roboearth. Nel nostro lavoro abbiamo implementato dei moduli software sfruttando le sole interfacce web di Roboearth, realizzando attività di identificazione oggetti, reasoning legato alle azioni ed esplorazione dell’ambiente. Il tutto focalizzato a metodi basati sul riuso di codice, sfruttamento della connessione alla rete, portabilità e condivision

Similarity recognition for OWL-based action recipes in RoboEarth

Sharing and integrating heterogeneous knowledge from different robots requires finding an agreement between the underlying abstract, hardware independent ontologies, saved in the RoboEarth cloud framework in the World Wide Web. A variety of methods from the literature may be used for this task, by means of similarity computation of two ontologies. While most of them come from other fields such as sequence alignment methods from the field of bioinformatics, they can be extended for ontology alignment purposes. While such methods basically perform a pair wise comparison of ontology entities, another approach called the OWL-Lite Alignment method uses a variety of different ontology alignment methods to integrate many ontology comparison techniques in one common framework. Both the sequence alignment based and OWL-Lite based solutions are presented and their suitability to conduct a similarity check for robot task descriptions upon an upload into the RoboEarth platform discussed

A proposal for a global task planning architecture using the RoboEarth cloud based framework

As robotic systems become more and more capable of assisting in human domains, methods are sought to compose robot executable plans from abstract human instructions. To cope with the semantically rich and highly expressive nature of human instructions, Hierarchical Task Network planning is often being employed along with domain knowledge to solve planning problems in a pragmatic way. Commonly, the domain knowledge is specific to the planning problem at hand, impeding re-use. Therefore this paper conceptualizes a global planning architecture, based on the worldwide accessible RoboEarth cloud framework. This architecture allows environmental state inference and plan monitoring on a global level. To enable plan re-use for future requests, the RoboEarth action language has been adapted to allow semantic matching of robot capabilities with previously composed plans

Dynamic virtual reality user interface for teleoperation of heterogeneous robot teams

This research investigates the possibility to improve current teleoperation control for heterogeneous robot teams using modern Human-Computer Interaction (HCI) techniques such as Virtual Reality. It proposes a dynamic teleoperation Virtual Reality User Interface (VRUI) framework to improve the current approach to teleoperating heterogeneous robot teams