UNDERWORLDS: Cascading Situation Assessment for Robots
| Autor: | Christopher Wallhridge, Rachid Alami, Tony Belpaeme, Aurelic Clodic, Yoan Sallami, Séverin Lemaignan |
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| Přispěvatelé: | Bristol Robotics Laboratory (BRL), University of Bristol [Bristol], Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Centre for Robotics and Neural Systems (CRNS), Plymouth University, Service Informatique : Développement, Exploitation et Assistance (LAAS-IDEA), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
REPRESENTATION Technology and Engineering Computer science [SHS.INFO]Humanities and Social Sciences/Library and information sciences 02 engineering and technology Human–robot interaction Set (abstract data type) 020901 industrial engineering & automation Software Human–computer interaction MAPS 0202 electrical engineering electronic engineering information engineering [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Representation (mathematics) business.industry Situation assessment Timeline Robotics Open source software Task analysis Robot 020201 artificial intelligence & image processing Artificial intelligence business Human-robot interaction Situation analysis |
| Zdroj: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Oct 2018, Madrid, Spain. ⟨10.1109/IROS.2018.8594094⟩ 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) IROS BASE-Bielefeld Academic Search Engine |
| ISSN: | 2153-0858 2153-0866 |
| Popis: | International audience; We introduce UNDERWORLDS, a novel lightweight framework for cascading spatio-temporal situation assessment in robotics. UNDERWORLDS allows programmers to represent the robot’s environment as real-time distributed data structures, containing both scene graphs (for representation of 3D geometries) and timelines (for representation of temporal events). UNDERWORLDS supports cascading representations: the environment is viewed as a set of worlds that can each have different spatial and temporal granularities, and may inherit from each other. UNDERWORLDS also provides a set of high-level client libraries and tools to introspect and manipulate the environment models.This article presents the design and architecture of this open-source tool, and explores some applications, along with examples of use. |
| Databáze: | OpenAIRE |
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