7 research outputs found
Using General-Purpose Planning for Action Selection in Human-Robot Interaction
A central problem in designing and implementing interactive
systems—action selection—is also a core research topic in
automated planning. While numerous toolkits are available
for building end-to-end interactive systems, the tight coupling
of representation, reasoning, and technical frameworks found
in these toolkits often makes it difficult to compare or change
the underlying domain models. In contrast, the automated
planning community provides general-purpose representation
languages and multiple planning engines that support these
languages. We describe our recent work on automated planning
for task-based social interaction, using a robot that must
interact with multiple humans in a bartending domain
Learning grasp affordance reasoning through semantic relations
Reasoning about object affordances allows an autonomous agent to perform
generalised manipulation tasks among object instances. While current approaches
to grasp affordance estimation are effective, they are limited to a single
hypothesis. We present an approach for detection and extraction of multiple
grasp affordances on an object via visual input. We define semantics as a
combination of multiple attributes, which yields benefits in terms of
generalisation for grasp affordance prediction. We use Markov Logic Networks to
build a knowledge base graph representation to obtain a probability
distribution of grasp affordances for an object. To harvest the knowledge base,
we collect and make available a novel dataset that relates different semantic
attributes. We achieve reliable mappings of the predicted grasp affordances on
the object by learning prototypical grasping patches from several examples. We
show our method's generalisation capabilities on grasp affordance prediction
for novel instances and compare with similar methods in the literature.
Moreover, using a robotic platform, on simulated and real scenarios, we
evaluate the success of the grasping task when conditioned on the grasp
affordance prediction.Comment: Accepted in IEEE/RSJ International Conference on Intelligent Robots
and Systems (IROS) 201
Integrating mission, logistics, and task planning for skills-based robot control in industrial kitting applications
This paper presents an integrated cognitive robotics systemfor industrial kitting operations in a modern factory setting.The robot system combines low-level robot control and execution monitoring with automated mission and task planning,and a logistics planner which communicates with the factory’smanufacturing execution system. The system has been implemented and tested on a series of automotive kitting problems,where collections of parts are picked from a warehouse anddelivered to the production line. The system has been empirically evaluated and the complete framework shown to besuccessful at assembling kits in a small factory environment
A Socially Assistive Robot using Automated Planning in a Paediatric Clinical Setting
No abstract available
SkiROS—A skill-based robot control platform on top of ROS
The development of cognitive robots in ROS still lacks the support of some key components: a knowledge integration framework and a framework for autonomous mission execution. In this research chapter, we will discuss our skill-based platform SkiROS, that was developed on top of ROS in order to organize robot knowledge and its behavior. We will show how SkiROS offers the possibility to integrate different functionalities in form of skill ‘apps’ and how SkiROS offers services for integrating these skill-apps into a consistent workspace. Furthermore, we will show how these skill-apps can be automatically executed based on autonomous, goal-directed task planning. SkiROS helps the developers to program and port their high-level code over a heterogeneous range of robots, meanwhile the minimal Graphical User Interface (GUI) allows non-expert users to start and supervise the execution. As an application example, we present how SkiROS was used to vertically integrate a robot into the manufacturing system of PSA Peugeot-Citroën. We will discuss the characteristics of the SkiROS architecture which makes it not limited to the automotive industry but flexible enough to be used in other application areas as well. SkiROS has been developed on Ubuntu 14.04 LTS and ROS indigo and it can be downloaded at https://github.com/frovida/skiros. A demonstration video is also available at https://youtu.be/mo7UbwXW5W0