A Hierarchical Hybrid Architecture for Mission-Oriented Robot Control

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-03413-3_26In this work is presented a general architecture for a multi physical agent network system based on the coordination and the behaviour management. The system is organised in a hierarchical structure where are distinguished the individual agent actions and the collective ones linked to the whole agent network. Individual actions are also organised in a hybrid layered system that take advantages from reactive and deliberative control. Sensing system is involved as well in the behaviour architecture improving the information acquisition performance.This work has been partially supported by the Spanish Ministry of Economy and Competitiveness under the CICYT project Mission Based Control (COBAMI): DPI2011-28507-C02-02, under coordinated project High Integrity Partitioned Embedded Systems (Hi-PartES): TIN2011-28567-C03-03, and under the collaborative research project supported by the European Union MultiPARTES Project: FP7-ICT 287702. 2011-14.Muñoz Alcobendas, M.; Munera Sánchez, E.; Blanes Noguera, F.; Simó Ten, JE. (2013). A Hierarchical Hybrid Architecture for Mission-Oriented Robot Control. En ROBOT2013: First Iberian Robotics Conference: Advances in Robotics, Vol. 1. Springer. 363-380. https://doi.org/10.1007/978-3-319-03413-3_26S363380Aragues, R.: Consistent data association in multi-robot systems with limited communications. 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Silhouette-based method for object classification and human action recognition in video

In this paper we present an instance based machine learning algorithm and system for real-time object classification and human action recognition which can help to build intelligent surveillance systems. The proposed method makes use of object silhouettes to classify objects and actions of humans present in a scene monitored by a stationary camera. An adaptive background subtracttion model is used for object segmentation. Template matching based supervised learning method is adopted to classify objects into classes like human, human group and vehicle; and human actions into predefined classes like walking, boxing and kicking by making use of object silhouettes. © Springer-Verlag Berlin Heidelberg 2006

A Distributed Scalable Approach to Formation Control in Multi-Robot Systems

A new algorithm for the control of formations of mobile robots is presented. Formations with a triangular lattice structure are created using distributed control rules, using only local information on each robot. The overall direction of movement of the formation is not pre-established but rather results from local interactions, giving all the robots a common, self-organized heading. Experiments were done to test the algorithm, yielding results in which robots behaved as expected, moving at a reasonable speed and maintaining the desired distances among themselves. Up to seven robots were used in real experiments and up to forty in simulation

Stable Aspects in Robot Software Development

The paper investigates the concept of software “stability” applied to robot systems. We define “stable” a family of systems modelled, designed and implemented so that specific applications of the family may be developed re-using, adapting and specializing knowledge, architecture and existing components. During the last few years, many ideas and technologies of software engineering (e.g. modularity, OO development and design patterns) were introduced in the development of robotic systems to improve the “stability” property. All these ideas and technologies are important. Nevertheless, they model robotic systems along a unique direction: the functional decomposition of parts. Unfortunately, there are concerns of robotic systems that relate to the systems as a whole hence crosscutting their modular structure. The Aspect Oriented Software Development is a recently emerged approach for modelling, designing and encapsulating the above-mentioned crosscutting concerns (aspects). We contend that stability must be based on a careful domain analysis and on a multidimensional modelling of different and recurring aspects of robot systems