2.50
Hdl Handle:
http://hdl.handle.net/10547/336058
Title:
The development of a semi-autonomous framework for personal assistant robots - SRS Project
Authors:
Qiu, Renxi; Ji, Ze; Chivarov, N.; Arbeiter, Georg; Weisshardt, Florian; Rooker, M.; Lopez, R.; Kronreif, G.; Spanel, M.; Li, Dayou
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 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.
Affiliation:
Cardiff University; Bulgarian Academy of Sciences; Fraunhofer IPA; PROFACTOR GmbH; Robotnik Automation S.L.L.; Integrated Microsystems Austria; Brno University of Technology; University of Bedfordshire
Citation:
Qiu R., Ji Z., Chivarov N., Arbeiter N., Weisshardt F., Rooker M., Lopez R., Kronreif G., Spanel M. and Li D. (2013) 'The Development of a Semi-Autonomous Framework for Personal Assistant Robots - SRS Project', International Journal of Intelligent Mechatronics and Robotics (IJIMR) 3 (4): 30-47
Publisher:
IGI Global
Journal:
International Journal of Intelligent Mechatronics and Robotics
Issue Date:
2013
URI:
http://hdl.handle.net/10547/336058
DOI:
10.4018/ijimr.2013100102
Additional Links:
http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2013100102
Type:
Article
Language:
en
ISSN:
2156-1664; 2156-1656
Appears in Collections:
Centre for Research in Distributed Technologies (CREDIT)

Full metadata record

DC FieldValue Language
dc.contributor.authorQiu, Renxien
dc.contributor.authorJi, Zeen
dc.contributor.authorChivarov, N.en
dc.contributor.authorArbeiter, Georgen
dc.contributor.authorWeisshardt, Florianen
dc.contributor.authorRooker, M.en
dc.contributor.authorLopez, R.en
dc.contributor.authorKronreif, G.en
dc.contributor.authorSpanel, M.en
dc.contributor.authorLi, Dayouen
dc.date.accessioned2014-11-25T12:38:14Z-
dc.date.available2014-11-25T12:38:14Z-
dc.date.issued2013-
dc.identifier.citationQiu R., Ji Z., Chivarov N., Arbeiter N., Weisshardt F., Rooker M., Lopez R., Kronreif G., Spanel M. and Li D. (2013) 'The Development of a Semi-Autonomous Framework for Personal Assistant Robots - SRS Project', International Journal of Intelligent Mechatronics and Robotics (IJIMR) 3 (4): 30-47en
dc.identifier.issn2156-1664-
dc.identifier.issn2156-1656-
dc.identifier.doi10.4018/ijimr.2013100102-
dc.identifier.urihttp://hdl.handle.net/10547/336058-
dc.description.abstractSRS 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.en
dc.language.isoenen
dc.publisherIGI Globalen
dc.relation.urlhttp://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2013100102en
dc.rightsArchived with thanks to International Journal of Intelligent Mechatronics and Roboticsen
dc.subjectautomatic task planneren
dc.subjectCare-O-Bot (COB) 3en
dc.subjectpersonal assistant robotsen
dc.subjectRobotic Operating System (ROS)en
dc.subjectroboticsen
dc.titleThe development of a semi-autonomous framework for personal assistant robots - SRS Projecten
dc.typeArticleen
dc.contributor.departmentCardiff Universityen
dc.contributor.departmentBulgarian Academy of Sciencesen
dc.contributor.departmentFraunhofer IPAen
dc.contributor.departmentPROFACTOR GmbHen
dc.contributor.departmentRobotnik Automation S.L.L.en
dc.contributor.departmentIntegrated Microsystems Austriaen
dc.contributor.departmentBrno University of Technologyen
dc.contributor.departmentUniversity of Bedfordshireen
dc.identifier.journalInternational Journal of Intelligent Mechatronics and Roboticsen
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