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

Qiu, Renxi, Ji, Ze, Noyvirt, Alexandre, Soroka, Anthony John, Setchi, Rossitza, Pham, Duc Truong, Xu, S., Shivarov, N., Pigini, L., Arbeiter, G., Weisshardt, F., Graf, B., Mast, M., Blasi, L., Facal, D., Rooker, M., Lopez, R., Li, D., Liu, B., Kronreif, G. and Smrz, P. 2012. Towards robust personal assistant robots: Experience gained in the SRS project. Presented at: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 7-12 October 2012. Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. IEEE, pp. 1651-1657. 10.1109/IROS.2012.6385727

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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.

Item Type: Conference or Workshop Item (Paper)
Date Type: Publication
Status: Published
Schools: Engineering
Centre for Advanced Manufacturing Systems At Cardiff (CAMSAC)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Publisher: IEEE
ISBN: 9781467317375
Last Modified: 10 Oct 2017 14:59
URI: http://orca-mwe.cf.ac.uk/id/eprint/44791

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