3,780 research outputs found
CORBYS cognitive control architecture for robotic follower
In this paper the novel generic cognitive robot control architecture CORBYS is presented. The objective of the CORBYS architecture is the integration of high-level cognitive modules to support robot functioning in dynamic environments including interacting with humans. This paper presents the preliminary integration of the CORBYS architecture to support a robotic follower. Experimental results on high-level empowerment-based trajectory planning have demonstrated the effectiveness of ROS-based communication between distributed modules developed in a multi-site research environment as typical for distributed collaborative projects such as CORBYS
Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms
The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications
Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior
This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic
causal model for predicting the behavior generated by modern percept-driven
robot plans. PHAMs represent aspects of robot behavior that cannot be
represented by most action models used in AI planning: the temporal structure
of continuous control processes, their non-deterministic effects, several modes
of their interferences, and the achievement of triggering conditions in
closed-loop robot plans.
The main contributions of this article are: (1) PHAMs, a model of concurrent
percept-driven behavior, its formalization, and proofs that the model generates
probably, qualitatively accurate predictions; and (2) a resource-efficient
inference method for PHAMs based on sampling projections from probabilistic
action models and state descriptions. We show how PHAMs can be applied to
planning the course of action of an autonomous robot office courier based on
analytical and experimental results
Exploiting Deep Semantics and Compositionality of Natural Language for Human-Robot-Interaction
We develop a natural language interface for human robot interaction that
implements reasoning about deep semantics in natural language. To realize the
required deep analysis, we employ methods from cognitive linguistics, namely
the modular and compositional framework of Embodied Construction Grammar (ECG)
[Feldman, 2009]. Using ECG, robots are able to solve fine-grained reference
resolution problems and other issues related to deep semantics and
compositionality of natural language. This also includes verbal interaction
with humans to clarify commands and queries that are too ambiguous to be
executed safely. We implement our NLU framework as a ROS package and present
proof-of-concept scenarios with different robots, as well as a survey on the
state of the art
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