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Multiagent Control of Self-reconfigurable Robots [article]

Hristo Bojinov, Arancha Casal, Tad Hogg
2000 arXiv   pre-print
Such robots consist of many modules that can move relative to each other, thereby changing the overall shape of the robot to suit different tasks.  ...  Multiagent control is particularly well-suited for tasks involving uncertain and changing environments.  ...  These systems can dynamically adapt their shape to suit the needs of the task at hand, e.g., for manipulation, locomotion, and adaptive structures responding to environmental stresses.  ... 
arXiv:cs/0006030v2 fatcat:g27627rqlvdqjpgklz6ijyxvom

A good body is all you need: avoiding catastrophic interference via agent architecture search [article]

Joshua Powers, Ryan Grindle, Lapo Frati, Josh Bongard
2021 arXiv   pre-print
Efforts to combat catastrophic interference to date focus on novel neural architectures or training methods, with a recent emphasis on policies with good initial settings that facilitate training in new  ...  However, none of these methods to date have taken into account how the physical architecture of the robot can obstruct or facilitate catastrophic interference, just as the choice of neural architecture  ...  Thanks is also due to the beautiful wife of the first author whose continual support makes work like this possible.  ... 
arXiv:2108.08398v2 fatcat:e7x7kcuqinhhnikpw6oyug42xy

A Social Informatics Approach to Human–Robot Interaction With a Service Social Robot

C.L. Lisetti, S.M. Brown, K. Alvarez, A.H. Marpaung
2004 IEEE Transactions on Systems Man and Cybernetics Part C (Applications and Reviews)  
The results of these studies provide the basis for future research efforts, which are discussed.  ...  Thus far, results have indicated that individuals 1) believe that service robots with emotion and personality capabilities would make them more acceptable in everyday roles in human life, 2) prefer that  ...  Lisetti to participate to the DARPA/NSF Study on Human-Robot Interaction. C. Lisetti also would like to acknowledge the great insights received from I.  ... 
doi:10.1109/tsmcc.2004.826278 fatcat:mi3zeq6hkffffn4v5fhqaojkne

Generating Task-specific Robotic Grasps [article]

Mark Robson, Mohan Sridharan
2022 arXiv   pre-print
The learned models are queried at run time by a simple sampling-based method to guide the generation of grasps that balance task and stability constraints.  ...  This paper describes a method for generating robot grasps by jointly considering stability and other task and object-specific constraints.  ...  Results also indicated that including task and object-specific information in the learned models for different classes steered grasps towards regions that better suit the task under consideration and produced  ... 
arXiv:2203.10498v1 fatcat:o42v3eukmbdrzgkmjhdkoopbny

A Three-Layered Architecture for Socially Intelligent Agents: Modeling the Multilevel Process of Emotions [chapter]

Christine L. Lisetti, Andreas Marpaung
2005 Lecture Notes in Computer Science  
Our agent is designed to socially interact with humans, navigating in an office suite environment, and engaging people in social interactions.  ...  We describe: (1) the psychological theory of emotion which inspired our design, (2) our proposed agent architecture, (3) the needed hardware additions that we implemented on a robot, (3) the robot's multi-modal  ...  For example, happy has these causal chains: (1) Something good happened to me, (2) I wanted this, (3) I do not want other things, and (4) Because of this, I feel good.  ... 
doi:10.1007/11573548_122 fatcat:z3ui2eio4zakvpbfxny6wqmxgm

The Free-play Sandbox: a Methodology for the Evaluation of Social Robotics and a Dataset of Social Interactions [article]

Séverin Lemaignan, Charlotte Edmunds, Emmanuel Senft, Tony Belpaeme
2017 arXiv   pre-print
Evaluating human-robot social interactions in a rigorous manner is notoriously difficult: studies are either conducted in labs with constrained protocols to allow for robust measurements and a degree of  ...  replicability, but at the cost of ecological validity; or in the wild, which leads to superior experimental realism, but often with limited replicability and at the expense of rigorous interaction metrics  ...  The challenge lies in designing a social task that exhibits these features while maintaining 'good' scientific properties (repeatability, replicability, robust metrics) as well as good practical properties  ... 
arXiv:1712.02421v1 fatcat:iprw2avqijeypof3oo6gh7dv2m

Evolving Soft Robots in Tight Spaces

Nick Cheney, Josh Bongard, Hod Lipson
2015 Proceedings of the 2015 on Genetic and Evolutionary Computation Conference - GECCO '15  
We show that more compliant and deformable soft robots perform more e↵ectively at this task than their less flexible counterparts.  ...  In this work, we present the first example of a soft robot evolutionarily designed for reaching or squeezing through a small aperture -a task naturally suited to its type of morphology.  ...  are better suited than rigid robots -and thus rep-resents a task for which soft robots should be explicitly designed for.  ... 
doi:10.1145/2739480.2754662 dblp:conf/gecco/CheneyBL15 fatcat:iaqesv67jvdira5sf5nsuekosm

Multiagent control of self-reconfigurable robots

Hristo Bojinov, Arancha Casal, Tad Hogg
2002 Artificial Intelligence  
Such robots consist of many modules that can move relative to each other, thereby changing the overall shape of the robot to suit different tasks.  ...  Multiagent control is particularly well-suited for tasks involving uncertain and changing environments.  ...  Acknowledgements We thank the PARC Modular Robotics team, especially Ying Zhang who wrote the original Proteo simulator that we modified for our experiments.  ... 
doi:10.1016/s0004-3702(02)00272-2 fatcat:wgo24kjvgfekxbq7gaqphghw7a

MONEE: Using Parental Investment to Combine Open-Ended and Task-Driven Evolution [chapter]

Nikita Noskov, Evert Haasdijk, Berend Weel, A. E. Eiben
2013 Lecture Notes in Computer Science  
This paper is inspired by a vision of self-sufficient robot collectives that adapt autonomously to deal with their environment and to perform user-defined tasks at the same time.  ...  A number of experiments with simulated e-pucks serve as proof of concept and show that with monee, the robots adapt to cope with the environment and to perform multiple tasks.  ...  We simulate a collective of e-puck robots that are set multiple tasks to ascertain: if the robots adapt their behaviour to suit the tasks; if all tasks are performed equally well; how the system reacts  ... 
doi:10.1007/978-3-642-37192-9_57 fatcat:bhczbohw4zgq7cfyq3xzt5yg5m

S4 Features and Artificial Intelligence for Designing a Robot against COVID-19—Robocov

Pedro Ponce, Omar Mata, Esteban Perez, Juan Roberto Lopez, Arturo Molina, Troy McDaniel
2022 Future Internet  
Besides, the reconfiguration of the robot for moving from one task (robot for disinfecting) to another one (robot for detecting face masks) is an easy endeavor that only one operator could do.  ...  Besides, it is important that this paper does not show specific details about each subsystem in the robot.  ...  Besides, awards are included to promote good behavior in operators when they control the robot.  ... 
doi:10.3390/fi14010022 fatcat:smotegmt45dlbh3utfosmerzzm

Coordination mechanism for integrated design of Human-Robot Interaction scenarios

François Ferland, Aurélien Reveleau, Francis Leconte, Dominic Létourneau, François Michaud
2017 Paladyn: Journal of Behavioral Robotics  
The ultimate long-term goal in Human-Robot Interaction (HRI) is to design robots that can act as a natural extension to humans.  ...  This requires the design of robot control architectures to provide structure for the integration of the necessary components into HRI.  ...  Since Strategies are designed in relation to a specific robotic platform, they are thus shareable between instances of HBBA on IRL-1.  ... 
doi:10.1515/pjbr-2017-0006 fatcat:igqxww6jabh7vicjqs3z5gxpku

Robopal: Modeling Role Transitions in Human-Robot Interaction

Dylan F. Glas, Takahiro Miyashita, Hiroshi Ishiguro, Norihiro Hagita
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
It is proposed that behavior modeling can be simplified by using this system to represent changes in the roles the robot and human play in an interaction, and by associating appropriate behaviors to each  ...  Preliminary experiments have been conducted to study nonverbal cues associated with leading and following behavior, and it has been observed that some behaviors, such as glancing towards the leader or  ...  For example, some aspects of body language used in face-to-face tasks may differ from that in the leading and following task studied here.  ... 
doi:10.1109/robot.2007.363636 dblp:conf/icra/GlasMIH07 fatcat:c6yme3zvy5gedfomawxnw3zvpe

Role of expressive behaviour for robots that learn from people

C. Breazeal
2009 Philosophical Transactions of the Royal Society of London. Biological Sciences  
Many of these activities shall require robots to learn new tasks, skills and individual preferences while 'on the job' from people with little expertise in the underlying technology.  ...  The promise of personal robots, however, challenges researchers to develop socially intelligent robots that can collaborate with people to do things.  ...  Many of these results were first observed with our robot, Kismet, the first robot designed to explore socio-emotive face-to-face interactions with people explicitly (Breazeal 2002) .  ... 
doi:10.1098/rstb.2009.0157 pmid:19884147 pmcid:PMC2781892 fatcat:y5crymcftjcapd7gfadpaskdum

A Novel Maximin-based Multi-objective Evolutionary Algorithm Using One-by-One Update Scheme for Multi-robot Scheduling Optimization

Shujun Yang, Yichuan Zhang, Lianbo Ma, Yan Song, Ping Zhou, Gang Shi, Hanning Chen
2021 IEEE Access  
Suppose that in the intelligent warehouse with a length and width of 100m, the goods entrance of the warehouse is at (0, 100) and the exit of the warehouse is at (100, 0).  ...  In this task, goods are transported to empty shelves according to warehouse requirements. (2) The transferring task, which is the task of moving the goods in the warehouse according to user's demands or  ... 
doi:10.1109/access.2021.3105102 fatcat:2rdyjtwf7rb7vho2r6hslw6xie

Aligning Robot Representations with Humans [article]

Andreea Bobu, Andi Peng
2022 arXiv   pre-print
We postulate that because humans will be the ultimate evaluator of system success in the world, they are best suited to communicating the aspects of the tasks that matter to the robot.  ...  Consequently, the representation, or abstraction, of the tasks the human hopes for the robot to perform in one environment may be misaligned with the representation of the tasks that the robot has learned  ...  The key issue in all these cases is that, while the designer can anticipate some of the possible task specifications when training the robot, these specifications do not necessarily reflect the desires  ... 
arXiv:2205.07882v1 fatcat:f7wgvpuogjhirgxynmodeqjajy
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