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Integrating active perception with an autonomous robot architecture

Glenn Wasson, David Kortenkamp, Eric Huber
1999 Robotics and Autonomous Systems  
We have integrated an active stereo vision system with an autonomous agent architecture using a system of perceptual memory.  ...  Although many s u c h systems have been developed, integrating them into an autonomous agent architecture remains an area of active research.  ...  An Integrated Architecture We have integrated a proximity space vision system with the skill layer of the 3T architecture and embodied it in a robot agent (see gure 4).  ... 
doi:10.1016/s0921-8890(99)00050-0 fatcat:gyszlliyzfh45cqst6z5hjthqu

Integrating active perception with an autonomous robot architecture

Glenn Wasson, David Kortenkamp, Eric Huber
1998 Proceedings of the second international conference on Autonomous agents - AGENTS '98  
We have integrated an active stereo vision system with an autonomous agent architecture using a system of perceptual memory.  ...  Although many s u c h systems have been developed, integrating them into an autonomous agent architecture remains an area of active research.  ...  An Integrated Architecture We have integrated a proximity space vision system with the skill layer of the 3T architecture and embodied it in a robot agent (see gure 4).  ... 
doi:10.1145/280765.280850 dblp:conf/agents/WassonKH98 fatcat:txuog5d435gzvfulwmifsmv7gi

A control architecture for an autonomous mobile robot

Maria C. Neves, Eugénio Oliveira
1997 Proceedings of the first international conference on Autonomous agents - AGENTS '97  
control architecture a mobile platform has become an useful autonomous mobile robot It is able to deal with dynamic environments, evolving in a coherent, relevant and adequate way according to both the  ...  Our autonomous mobile robot also exhibits learning capabilities, namely the ability to learn new behaviours in an autonomous way.  ...  The Activation Module determines the agent activation level which is an important value to decide about the agent activation when it is integrated in a higher level behaviour.  ... 
doi:10.1145/267658.267713 dblp:conf/agents/NevesO97 fatcat:l3q2ishcfrcoln7irdms64o2uy

Embodied Cognition for Autonomous Interactive Robots

Guy Hoffman
2012 Topics in Cognitive Science  
This article suggests adopting a modern EC approach for autonomous robots interacting with humans.  ...  In particular, embodied robotic cognition research could transcend simple robotic systems, navigation, and dynamics, and be applied to autonomous interactive robots that act in meshed joint activities  ...  Action ⁄ perception and action ⁄ cognition integration In addition to a perception-based theory of cognition, there is an understanding that cognitive processes are similarly interwoven with motor activity  ... 
doi:10.1111/j.1756-8765.2012.01218.x pmid:22893571 fatcat:6vjjmjmvfnhfpagkhvmmupdv6i

HTN robot planning in partially observable dynamic environments

Martin Weser, Dominik Off, Jianwei Zhang
2010 2010 IEEE International Conference on Robotics and Automation  
Since mobile service robots act in a real dynamic environment and construct or adapt their world model autonomously based on sensory data, they are inevitably confronted with uncertain and incomplete information  ...  This paper describes two approaches to dealing with incomplete world knowledge in the context of HTN robot planning.  ...  This paper describes an architecture that integrates a state-of-the-art configurable planner and a robot control system.  ... 
doi:10.1109/robot.2010.5509770 dblp:conf/icra/WeserOZ10 fatcat:s6izobfrvrbuvoyi45i27vn4yi

HARPIC, an Hybrid Architecture Based on Representations, Perceptions, and Intelligent Control: A Way to Provide Autonomy to Robots [chapter]

Dominique Luzeaux, André Dalgalarrondo
2001 Lecture Notes in Computer Science  
In this paper we discuss an hybrid architecture, including reactive and deliberative behaviors, which we have developed to confer autonomy to unmanned robotics systems.  ...  Two main features characterize our work: on the one hand the ability for the robot to control its own autonomy, and on the other hand the capacity to evolve and to learn.  ...  To achieve this, we work with hybrid control architectures, integrating a lower level focusing on intelligent control and active perception, and a higher level provided through the mission planning.  ... 
doi:10.1007/3-540-45718-6_37 fatcat:l3ciizochnal7a3hxe24l67qim

Building Like Animals: Using Autonomous Robots to Search, Evaluate and Build

Stanislav Roudavski
2016 Zenodo  
This discussion relies on an empirical study of autonomous robots that outlines the capabilities necessary for such construction.  ...  Such building procedures are destructive and cannot gracefully integrate with existing ecosystems.  ...  The visual examples above are taken from an experiment that was led by Juan Yang.  ... 
doi:10.5281/zenodo.2547105 fatcat:p6ynyscj3reo7nvun4k25haxsm

Robotics and Autonomous Systems in the 50th Anniversary of Artificial Intelligence

Alícia Casals, Antonio Fernández-Caballero
2007 Robotics and Autonomous Systems  
The fifth article "A multi-agent architecture with cooperative fuzzy control for a mobile robot" by B. Innocenti, B. López and J.  ...  Salvi describes a multi-agent architecture combined with cooperative control developed within the agent.  ... 
doi:10.1016/j.robot.2007.09.003 fatcat:g65c6ecbd5dvfm45bngn4lv5ka

Development of a Semi-Autonomous Robotic System to Assist Children with Autism in Developing Visual Perspective Taking Skills

Abolfazl Zaraki, Luke Wood, Ben Robins, Kerstin Dautenhahn
2018 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)  
Before starting the game with children the human operator specifies the game number by scanning an RFID card to the system and afterward the architectures will activate the rules of that game. C.  ...  However in the current version (semi-autonomous), the Think layer will decide and activate a behaviour by sending an action event to the Act layer via the Broker.  ... 
doi:10.1109/roman.2018.8525681 dblp:conf/ro-man/ZarakiWRD18 fatcat:s3gnrvhw7jhmzae3iy2bk7bqzy

Perception and human interaction for developmental learning of objects and affordances

Serena Ivaldi, Natalia Lyubova, Damien Gerardeaux-Viret, Alain Droniou, Salvatore M. Anzalone, Mohamed Chetouani, David Filliat, Olivier Sigaud
2012 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)  
In this paper we describe a cognitive architecture for humanoids interacting with objects and caregivers in a developmental robotics scenario.  ...  The architecture is foundational to the MACSi project: it is designed to support experiments to make a humanoid robot gradually enlarge its repertoire of known objects and skills combining autonomous learning  ...  COGNITIVE ARCHITECTURE The CA is an integrated system which orchestrates all the cognitive, perceptive, learning and control modules.  ... 
doi:10.1109/humanoids.2012.6651528 dblp:conf/humanoids/IvaldiLGDACFS12 fatcat:6wbukvztunboxg46dglzp2p3bm

A Review of Intelligent Systems Software for Autonomous Vehicles

Lyle N. Long, Scott D. Hanford, Oranuj Janrathitikarn, Greg L. Sinsley, Jodi A. Miller
2007 2007 IEEE Symposium on Computational Intelligence in Security and Defense Applications  
Index Terms-Mobile robots, autonomous vehicles, intelligent agents, software, and artificial intelligence.  ...  Early attempts at mobile robots were confined to simple laboratory environments.  ...  A revolutionary idea of this architecture was the linking of perception and action without an internal representation of the environment in which the robot was situated.  ... 
doi:10.1109/cisda.2007.368137 dblp:conf/cisda/LongHJSM07 fatcat:p6g4hqtwirhajnbtvqp4v6xmjy

DEVELOPMENT OF INTELLIGENT HYBRID ARCHITECTURE FOR AUTONOMOUS UAV

Mostafa Moussid, Adil Sayouti, Hicham Medromi.
2017 International Journal of Advanced Research  
The Control architectures define how these abilities should be integrated to construct and develop an autonomous navigation with little or no human intervention.  ...  However, with the development of more complex robots that must operate in uncontrolled and dynamic environments, an autonomous UAV is understood to be intelligent robot capable of performing complex operations  ... 
doi:10.21474/ijar01/3196 fatcat:dnntv2qj7rbahbjao5zrq3gawy

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  
This requires the design of robot control architectures to provide structure for the integration of the necessary components into HRI.  ...  This paper describes how HBBA, a Hybrid Behavior-Based Architecture, can be used as a unifying framework for integrated design of HRI scenarios.  ...  Introduction Design of an interactive mobile robot is one of [1] if not the most challenging integration problem in robotics.  ... 
doi:10.1515/pjbr-2017-0006 fatcat:igqxww6jabh7vicjqs3z5gxpku

An Integrated Approach to Represent and Adapt Human-robot Collaborative Tasks

Hossein Karami, Alessandro Carfi, Fulvio Mastrogiovanni
2020 Zenodo  
Despite recent developments in perception, processing, and actuation, robots are not able to handle many operations fully autonomously.  ...  In this paper we propose a novel architecture that manages robot planning while giving the possibility to a human operator to intervene to modify the robot plan using kinesthetic teaching.  ...  Furthermore, autonomous robots should be able to manage dynamically their task execution plans to efficiently cooperate with human coworkers.  ... 
doi:10.5281/zenodo.4781520 fatcat:vooi6vkprvab3fxbflh2louzne

Autonomous and Intelligent Mobile Systems based on Multi-Agent Systems [chapter]

Hicham, Adil Sayouti
2011 Multi-Agent Systems - Modeling, Control, Programming, Simulations and Applications  
In 1986, he presented an architecture for autonomous robots called "subsumption architecture".  ...  Therefore it is crucial to develop an integrated network environment for robotic systems based on today's Internet technology.  ... 
doi:10.5772/15230 fatcat:cl7vi6oaobg6dibrol5ajgi42e
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