Publication Details

Towards robust personal assistant robots: Experience gained in the SRS project

QIU Renxi, JI Ze, NOYVIRT Alexandre, SOROKA Anthony, SETCHI Rossi, PHAM Duc Truong, XU Shuo, SHIVAROV Naiden, PIGINI Lucia, ARBEITER Georg, WEISSHARDT Florian, GRAF Brigit, MAST Marcus, BLASI Lorenzo, FACAL David, ROOKER Martijn, LOPEZ Rafael, LI Dayou, LIU Beisheng, KRONREIF Gernot and SMRŽ Pavel. Towards robust personal assistant robots: Experience gained in the SRS project. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vilamoura: Institute of Electrical and Electronics Engineers, 2012, pp. 1651-1657. ISBN 978-1-4673-1737-5.
Czech title
K robustním osobním robotickým asistentům - zkušenosti z projektu SRS
Type
conference paper
Language
english
Authors
Qiu Renxi, Dr. (UBED)
Ji Ze (CardiffU)
Noyvirt Alexandre (CardiffU)
Soroka Anthony (CardiffU)
Setchi Rossi (CardiffU)
Pham Duc Truong (CardiffU)
Xu Shuo (CardiffU)
Shivarov Naiden (BAS)
Pigini Lucia (FDCGO)
Arbeiter Georg (Fraunhofer IPA)
Weisshardt Florian (Fraunhofer IPA)
Graf Brigit, Dr.-Ing. (Fraunhofer IPA)
Mast Marcus (IAF HDM)
Blasi Lorenzo (HP-IT)
Facal David, Compos (USC)
Rooker Martijn (PROFACTOR)
Lopez Rafael (Robotnik)
Li Dayou (UBED)
Liu Beisheng (UBED)
Kronreif Gernot, Dr. (PROFACTOR)
Smrž Pavel, doc. RNDr., Ph.D. (DCGM FIT BUT)
Keywords

personal assistant robots; ambient assisted living; ROS

Abstract

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 initial demonstration platform. In this paper, experience gained while building the SRS system is presented. A main contribution of the paper is the SRS autonomous control framework. The framework 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, several new components and user interfaces are integrated on top of COB's existing capabilities to enable robust fetch and carry in unstructured environments. The implementation strategy and results are discussed at the end of the paper.

Published
2012
Pages
1651-1657
Proceedings
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, PT
ISBN
978-1-4673-1737-5
Publisher
Institute of Electrical and Electronics Engineers
Place
Vilamoura, PT
BibTeX 
@INPROCEEDINGS{FITPUB10939,
   author = "Renxi Qiu and Ze Ji and Alexandre Noyvirt and Anthony Soroka and Rossi Setchi and Truong Duc Pham and Shuo Xu and Naiden Shivarov and Lucia Pigini and Georg Arbeiter and Florian Weisshardt and Brigit Graf and Marcus Mast and Lorenzo Blasi and David Facal and Martijn Rooker and Rafael Lopez and Dayou Li and Beisheng Liu and Gernot Kronreif and Pavel Smr\v{z}",
   title = "Towards robust personal assistant robots: Experience gained in the SRS project",
   pages = "1651--1657",
   booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
   year = 2012,
   location = "Vilamoura, PT",
   publisher = "Institute of Electrical and Electronics Engineers",
   ISBN = "978-1-4673-1737-5",
   language = "english",
   url = "https://www.fit.vut.cz/research/publication/10939"
}
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