Fuzzy optimisation based symbolic grounding for service robots

2.50
Hdl Handle:
http://hdl.handle.net/10547/325899
Title:
Fuzzy optimisation based symbolic grounding for service robots
Authors:
Liu, Beisheng
Abstract:
Symbolic grounding is a bridge between task level planning and actual robot sensing and actuation. Uncertainties raised by unstructured environments make a bottleneck for integrating traditional artificial intelligence with service robotics. In this research, a fuzzy optimisation based symbolic grounding approach is presented. This approach can handle uncertainties and helps service robots to determine the most comfortable base region for grasping objects in a fetch and carry task. Novel techniques are applied to establish fuzzy objective function, to model fuzzy constraints and to perform fuzzy optimisation. The approach does not have the short comings of others’ work and the computation time is dramatically reduced in compare with other methods. The advantages of the proposed fuzzy optimisation based approach are evidenced by experiments that were undertaken in Care-O-bot 3 (COB 3) and Robot Operating System (ROS) platforms.
Citation:
Liu, B. (2013) 'Fuzzy optimisation based symbolic grounding for service robots'. PhD thesis. University of Bedfordshire.
Publisher:
University of Bedfordshire
Issue Date:
Nov-2013
URI:
http://hdl.handle.net/10547/325899
Type:
Thesis or dissertation
Language:
en
Description:
A thesis submitted to the University of Bedfordshire in partial fulfilment of the requirements for the degree of Doctor of Philosophy
Appears in Collections:
PhD e-theses

Full metadata record

DC FieldValue Language
dc.contributor.authorLiu, Beishengen
dc.date.accessioned2014-09-05T12:59:42Z-
dc.date.available2014-09-05T12:59:42Z-
dc.date.issued2013-11-
dc.identifier.citationLiu, B. (2013) 'Fuzzy optimisation based symbolic grounding for service robots'. PhD thesis. University of Bedfordshire.en
dc.identifier.urihttp://hdl.handle.net/10547/325899-
dc.descriptionA thesis submitted to the University of Bedfordshire in partial fulfilment of the requirements for the degree of Doctor of Philosophyen
dc.description.abstractSymbolic grounding is a bridge between task level planning and actual robot sensing and actuation. Uncertainties raised by unstructured environments make a bottleneck for integrating traditional artificial intelligence with service robotics. In this research, a fuzzy optimisation based symbolic grounding approach is presented. This approach can handle uncertainties and helps service robots to determine the most comfortable base region for grasping objects in a fetch and carry task. Novel techniques are applied to establish fuzzy objective function, to model fuzzy constraints and to perform fuzzy optimisation. The approach does not have the short comings of others’ work and the computation time is dramatically reduced in compare with other methods. The advantages of the proposed fuzzy optimisation based approach are evidenced by experiments that were undertaken in Care-O-bot 3 (COB 3) and Robot Operating System (ROS) platforms.en
dc.language.isoenen
dc.publisherUniversity of Bedfordshireen
dc.subjectH670 Robotics and Cyberneticsen
dc.subjectfuzzy optimisationen
dc.subjectsymbolic groundingen
dc.subjectservice robotsen
dc.subjectroboticsen
dc.titleFuzzy optimisation based symbolic grounding for service robotsen
dc.typeThesis or dissertationen
dc.type.qualificationnamePhDen_GB
dc.type.qualificationlevelPhDen
dc.publisher.institutionUniversity of Bedfordshireen
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