2.50
Hdl Handle:
http://hdl.handle.net/10547/272972
Title:
Fuzzy optimisation based symbolic grounding for service robots
Authors:
Liu, Beisheng; Li, Dayou; Qiu, Renxi; Yue, Yong; Maple, Carsten; Gu, Shuang
Abstract:
Symbolic grounding is a bridge between high-level planning and actual robot sensing, and actuation. Uncertainties raised by the unstructured environment make a bottleneck for integrating traditional artificial intelligence with service robotics. This paper presents a fuzzy logic based approach to formalise the grounding problems into a fuzzy optimization problem, which is robust to uncertainties. Novel techniques are applied to establish the objective function, to model fuzzy constraints and to perform fuzzy optimisation. The outcome is tested with a service robot fetch and carry task, where the fuzzy optimisation approach helps the robot to determine the most comfortable position (location and orientation) for grasping objects. Experimental results show that the proposed approach improves the robustness of the task implementation in unstructured environments.
Affiliation:
University of Bedfordshire
Citation:
Liu, B., Li, D., Qiu, R., Yue, Y., Maple, C., Gu, S. (2012) 'Fuzzy optimisation based symbolic grounding for service robots' Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on , vol., no., pp.1658-1664, 7-12 Oct. 2012
Publisher:
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date:
2012
URI:
http://hdl.handle.net/10547/272972
DOI:
10.1109/IROS.2012.6385777
Additional Links:
http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6385777
Type:
Conference papers, meetings and proceedings
Language:
en
ISBN:
9781467317375
Appears in Collections:
Centre for Research in Distributed Technologies (CREDIT)

Full metadata record

DC FieldValue Language
dc.contributor.authorLiu, Beishengen_GB
dc.contributor.authorLi, Dayouen_GB
dc.contributor.authorQiu, Renxien_GB
dc.contributor.authorYue, Yongen_GB
dc.contributor.authorMaple, Carstenen_GB
dc.contributor.authorGu, Shuangen_GB
dc.date.accessioned2013-03-15T11:45:11Z-
dc.date.available2013-03-15T11:45:11Z-
dc.date.issued2012-
dc.identifier.citationLiu, B., Li, D., Qiu, R., Yue, Y., Maple, C., Gu, S. (2012) 'Fuzzy optimisation based symbolic grounding for service robots' Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on , vol., no., pp.1658-1664, 7-12 Oct. 2012en_GB
dc.identifier.isbn9781467317375-
dc.identifier.doi10.1109/IROS.2012.6385777-
dc.identifier.urihttp://hdl.handle.net/10547/272972-
dc.description.abstractSymbolic grounding is a bridge between high-level planning and actual robot sensing, and actuation. Uncertainties raised by the unstructured environment make a bottleneck for integrating traditional artificial intelligence with service robotics. This paper presents a fuzzy logic based approach to formalise the grounding problems into a fuzzy optimization problem, which is robust to uncertainties. Novel techniques are applied to establish the objective function, to model fuzzy constraints and to perform fuzzy optimisation. The outcome is tested with a service robot fetch and carry task, where the fuzzy optimisation approach helps the robot to determine the most comfortable position (location and orientation) for grasping objects. Experimental results show that the proposed approach improves the robustness of the task implementation in unstructured environments.en_GB
dc.language.isoenen
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INCen_GB
dc.relation.urlhttp://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6385777en_GB
dc.subjectcollision avoidanceen_GB
dc.subjectgraspingen_GB
dc.subjectgroundingen_GB
dc.subjectoptimizationen_GB
dc.subjectrobot sensing systemsen_GB
dc.subjecttrajectoryen_GB
dc.subjectroboticsen_GB
dc.subjectfuzzy optimisationen_GB
dc.titleFuzzy optimisation based symbolic grounding for service robotsen
dc.typeConference papers, meetings and proceedingsen
dc.contributor.departmentUniversity of Bedfordshireen_GB
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