Human-Machine Interfaces for Service Robotics

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Robot navigation in unknown environment with obstacle recognition using laser sensor

Robot navigation in unknown and dynamic environments may result in aimless wandering, corner traps and repetitive path loops. To address these issues, this paper presents the solution by comparing the standard deviation of the distance ranges of the obstacles appeared in the robot navigation path. For the similar obstacles, The standard deviations of distance range vectors, obtained from the laser range finder sensor of the robot at similar pose, are very close to each other. Therefore, the measurements of odometer sensor are also combined with the standard deviation to recognize the location of the obstacles. A novel algorithm, with obstacle detection feature, is presented for robot navigation in unknown and dynamic environments. The algorithm checks the similarity of the distance range vectors of the obstacles in the path and uses this information in combination with the odometer measurements to identify the obstacles and their locations. The experimental work is carried out using Gazebo simulator

Spatial representation for planning and executing robot behaviors in complex environments

Robots are already improving our well-being and productivity in different applications such as industry, health-care and indoor service applications. However, we are still far from developing (and releasing) a fully functional robotic agent that can autonomously survive in tasks that require human-level cognitive capabilities. Robotic systems on the market, in fact, are designed to address specific applications, and can only run pre-defined behaviors to robustly repeat few tasks (e.g., assembling objects parts, vacuum cleaning). They internal representation of the world is usually constrained to the task they are performing, and does not allows for generalization to other scenarios. Unfortunately, such a paradigm only apply to a very limited set of domains, where the environment can be assumed to be static, and its dynamics can be handled before deployment. Additionally, robots configured in this way will eventually fail if their "handcrafted'' representation of the environment does not match the external world. Hence, to enable more sophisticated cognitive skills, we investigate how to design robots to properly represent the environment and behave accordingly. To this end, we formalize a representation of the environment that enhances the robot spatial knowledge to explicitly include a representation of its own actions. Spatial knowledge constitutes the core of the robot understanding of the environment, however it is not sufficient to represent what the robot is capable to do in it. To overcome such a limitation, we formalize SK4R, a spatial knowledge representation for robots which enhances spatial knowledge with a novel and "functional" point of view that explicitly models robot actions. To this end, we exploit the concept of affordances, introduced to express opportunities (actions) that objects offer to an agent. To encode affordances within SK4R, we define the "affordance semantics" of actions that is used to annotate an environment, and to represent to which extent robot actions support goal-oriented behaviors. We demonstrate the benefits of a functional representation of the environment in multiple robotic scenarios that traverse and contribute different research topics relating to: robot knowledge representations, social robotics, multi-robot systems and robot learning and planning. We show how a domain-specific representation, that explicitly encodes affordance semantics, provides the robot with a more concrete understanding of the environment and of the effects that its actions have on it. The goal of our work is to design an agent that will no longer execute an action, because of mere pre-defined routine, rather, it will execute an actions because it "knows'' that the resulting state leads one step closer to success in its task

Robo-ethics design approach for cultural heritage: Case study - Robotics for museum purpose

The thesis shows the study behind the design process and the realization of the robotic solution for museum purposes called Virgil. The research started with the literature review on museums management and the critic analysis of signi cant digital experiences in the museum eld. Then, it continues analyzing the museum and its relation with the territory and the cultural heritage. From this preliminary analysis stage, signi cant issue related to museum management analysis comes out: nowadays many museum areas are not accessible to visitors because of issues related to security or architectural barriers. Make explorable these areas is one of the important topics in the cultural debate related to the visiting experience. This rst stage gave the knowledge to develop the outlines which brought to the realization of an ef cient service design then realized following robot ethical design values. One of the pillars of the robot ethical design is the necessity to involve all the stakeholders in the early project phases, for this reason, the second stage of the research was the study of the empathic relations between museum and visitors. In this phase, facilitator factors of this relation are de ned and transformed into guidelines for the product system performances. To perform this stage, it has been necessary create a relation between all the stakeholders of the project, which are: Politecnico di Torino, Tim (Telecom Italia Mobile) JOL CRAB research laboratory and Terre dei Savoia which is the association in charge of the Racconiggi’s Castle, the context scenario of the research. The third stage of the research, provided the realization of a prototype of the robot, in this stage telepresence robot piloted the Museum Guide it is used to show, in real time, the inaccessible areas of the museum enriched with multimedia contents. This stage concludes with the nal test user, from the test session feedback analysis, many of people want to drive themselves the robot. To give an answer to user feedback an interactive game has been developed. The game is based both on the robot ability to be driven by the visitors and also on the capacity of the robot to be used as a platform for the digital telling. To be effective, the whole experience it has been designed and tested with the support of high school students, which are one of the categories less interested in the traditional museum visit. This experience wants to demonstrate that the conscious and ethical use of the robotic device is effectively competitive, in term of performances, with the other solutions of digital visit: because it allows a more interactive digital experience in addition to the satisfaction of the physical visit at the museum

Embodied Evolution in Collective Robotics: A Review

This paper provides an overview of evolutionary robotics techniques applied to on-line distributed evolution for robot collectives -- namely, embodied evolution. It provides a definition of embodied evolution as well as a thorough description of the underlying concepts and mechanisms. The paper also presents a comprehensive summary of research published in the field since its inception (1999-2017), providing various perspectives to identify the major trends. In particular, we identify a shift from considering embodied evolution as a parallel search method within small robot collectives (fewer than 10 robots) to embodied evolution as an on-line distributed learning method for designing collective behaviours in swarm-like collectives. The paper concludes with a discussion of applications and open questions, providing a milestone for past and an inspiration for future research.Comment: 23 pages, 1 figure, 1 tabl

Proceedings of the 2012 Workshop on Ambient Intelligence Infrastructures (WAmIi)

This is a technical report including the papers presented at the Workshop on Ambient Intelligence Infrastructures (WAmIi) that took place in conjunction with the International Joint Conference on Ambient Intelligence (AmI) in Pisa, Italy on November 13, 2012. The motivation for organizing the workshop was the wish to learn from past experience on Ambient Intelligence systems, and in particular, on the lessons learned on the system architecture of such systems. A significant number of European projects and other research have been performed, often with the goal of developing AmI technology to showcase AmI scenarios. We believe that for AmI to become further successfully accepted the system architecture is essential

Proceedings of the 2012 Workshop on Ambient Intelligence Infrastructures (WAmIi)

This is a technical report including the papers presented at the Workshop on Ambient Intelligence Infrastructures (WAmIi) that took place in conjunction with the International Joint Conference on Ambient Intelligence (AmI) in Pisa, Italy on November 13, 2012. The motivation for organizing the workshop was the wish to learn from past experience on Ambient Intelligence systems, and in particular, on the lessons learned on the system architecture of such systems. A significant number of European projects and other research have been performed, often with the goal of developing AmI technology to showcase AmI scenarios. We believe that for AmI to become further successfully accepted the system architecture is essential