The Development of a Semi-Autonomous Framework for Personal Assistant Robots - SRS Project
| Autor: | Ze Ji, Gernot Kronreif, Dayou Li, M. Spanel, R. Lopez, Florian Weisshardt, Renxi Qiu, M. Rooker, Nayden Chivarov, Georg Arbeiter |
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| Přispěvatelé: | Publica |
| Rok vydání: | 2013 |
| Předmět: |
Structure (mathematical logic)
Engineering business.industry Mechanical Engineering Control (management) Robotics Planner Fuzzy logic Industrial and Manufacturing Engineering Assistenzroboter Task (project management) Robot Operating System (ROS) Artificial Intelligence Control and Systems Engineering Human–computer interaction Robot Artificial intelligence semantic technology User interface Care-O-bot® business computer computer.programming_language |
| Zdroj: | International Journal of Intelligent Mechatronics and Robotics. 3:30-47 |
| ISSN: | 2156-1656 2156-1664 |
| DOI: | 10.4018/ijimr.2013100102 |
| Popis: | SRS is a European research project for building robust personal assistant robots using ROS (Robotic Operating System) and Care-O-bot (COB) 3 as the demonstration platform. A semi-autonomous framework has been developed in the project. It consists of an autonomous control structure and user interfaces that support the semi-autonomous operation. The control structure is divided into two parts. First, it has an automatic task planner, which initialises actions on the symbolic level. The planner produces proactive robotic behaviours based on updated semantic knowledge. Second, it has an action executive for coordination actions at the level of sensing and actuation. The executive produces reactive behaviours in well-defined domains. The two parts are integrated by fuzzy logic based symbolic grounding. As a whole, they represent the framework for autonomous control. Based on the framework, SRS user interfaces are integrated on top of COB's existing capabilities to enable robust fetch and carry in unstructured environments. |
| Databáze: | OpenAIRE |
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