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    Fuzzy optimisation based symbolic grounding for service robots

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    Authors
    Liu, Beisheng
    Li, Dayou
    Qiu, Renxi
    Yue, Yong
    Maple, Carsten
    Gu, Shuang
    Affiliation
    University of Bedfordshire
    Issue Date
    2012
    Subjects
    collision avoidance
    grasping
    grounding
    optimization
    robot sensing systems
    trajectory
    robotics
    fuzzy optimisation
    
    Metadata
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    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.
    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
    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
    ae974a485f413a2113503eed53cd6c53
    10.1109/IROS.2012.6385777
    Scopus Count
    Collections
    Centre for Research in Distributed Technologies (CREDIT)

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