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The RoCS Framework to Support the Development of Autonomous Robots

Leonardo Ramos, Gabriel Lisbôa Guimarães Divino, Guilherme Cano Lopes, Breno Bernard Nicolau De França, Leonardo Montecchi, Esther Luna Colombini
2019 Journal of Software Engineering Research and Development  
To explore the capabilities of the proposed refinement, we implemented the RoCS (Robotics and Cognitive Systems) framework for autonomous robots.  ...  With the expansion of autonomous robotics and its applications (e.g. medical, competition, military), the biggest hurdle in developing mobile robots lies in endowing them with the ability to interact with  ...  Acknowledgements The authors would like to thank the CIbSE 2019 reviewers for their positive contributions to the improvement of this work.  ... 
doi:10.5753/jserd.2019.470 fatcat:qrjdpq6u3ng5xmftub6yd65ysi

The rocs framework to support the development of autonomous robots

Leonardo Ramos, Universidade Estadual de Campinas, Esther Colombini, Gabriel Divino, Breno de França, Leonardo Montechi, Universidade Estadual de Campinas, Universidade Estadual de Campinas, Universidade Estadual de Campinas, Universidade Estadual de Campinas
2019 Resumos do Congresso de Iniciação Científica Unicamp   unpublished
With the expansion of autonomous robotics and the variety of applications found nowadays (e.g. medical, competition, military), the biggest hurdle on the development of mobile robots lies in endowing them  ...  Based on the wellknown IBM Autonomic Computing reference architecture (known as MAPE-K), this work defines a refined architecture following the Robotics perspective.  ...  Acknowledgement Authors thank to CNPq for the grant support to this research. ____________________  ... 
doi:10.20396/revpibic2720191921 fatcat:pkjseecyfjcuzes5hngcojgv4e

Editoral letter - special issue CIbSE2019

Isabel Sofia Brito
2020 Journal of Software Engineering Research and Development  
This issue of the JSERD contains seven extended and peer-reviewed papers from the XXII Ibero-American Conference on Software Engineering (CIbSE 2019), which was held in La Habana, Cuba, in April 2019.  ...  , testing, and maintenance. The paper "The RoCS Framework to Support the Development of Autonomous Robots", by Leonardo Ramos, Gabriel Lisboa, Guimarães Divino, Guilherme  ...  To explore the capabilities of the proposed refinement, the authors implemented the RoCS (Robotics and Cognitive Systems) framework for autonomous robots. We would  ... 
doi:10.5753/jserd.2020.719 fatcat:ienlom3suvggxiucljezg7zsfy

Flexible process integration for Mass Customisation Manufacturing via autonomous mobile Payload Routing Platforms

Anthony John Walker, Glen Bright
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
A subset of the total distributed process integration is assumed to be handled by flexible routing operations.  ...  Physical routing operations are considered to be facilitated by autonomous mobile Payload Routing Platforms (PRP's).  ...  The authors gratefully acknowledge the contribution of National Research Foundation and reviewers' comments.  ... 
doi:10.1109/iros.2009.5354621 dblp:conf/iros/WalkerB09 fatcat:eoch7tk4fzafpcwngkjsfzdhlu

Alpha-N: Shortest Path Finder Automated Delivery Robot with Obstacle Detection and Avoiding System [chapter]

Asif Ahmed Neloy, Rafia Alif Bindu, Sazid Alam, Ridwanul Haque, Md. Saif Ahammod Khan, Nasim Mahmud Mishu, Shahnewaz Siddique
2020 Lecture Notes in Computer Science  
This PPS requires a minimum speed of 200 RPM and 75 seconds duration for the robot to successfully relocate its position by reading an RFID tag.  ...  Alpha N A self-powered, wheel driven Automated Delivery Robot is presented in this paper. The ADR is capable of navigating autonomously by detecting and avoiding objects or obstacles in its path.  ...  Moreover, the existing detector frameworks aren't built to generate any feedback to support path planning or localization.  ... 
doi:10.1007/978-3-030-41964-6_18 fatcat:3drejj6mc5cd3km6z5vwp55vpq

Activity recognition in a physical interactive robogame

Ewerton L.S Oliveira, Davide Orru, Tiago Nascimento, Andrea Bonarini
2017 2017 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)  
Being able to recognize types of activity is essential to enable robot behavior adaptation to support player engagement.  ...  Also, the introduction of this recognition system will allow for development of better models for prediction, planning and problem solving in PIRGs that can foster human-robot interaction.  ...  robots as game opponents or companions of human players -activity recognition plays a fundamental role to adapt the robot strategy to support the player's entertainment during the game.  ... 
doi:10.1109/devlrn.2017.8329793 dblp:conf/icdl-epirob/OliveiraONB17 fatcat:gzje6gqujrdrvgdju6l6yhs4ha

On Software Quality-motivated Design of a Real-time Framework for Complex Robot Control Systems

Max Reichardt, Tobias Föhst, Karsten Berns
2013 Electronic Communications of the EASST  
We propose systematic framework design aiming at high levels of support for all quality attributes that are relevant in the robotics domain. Design decisions are taken accordingly.  ...  Frameworks have fundamental impact on software quality of robot control systems.  ...  With the intent to commercially develop and sell increasingly complex autonomous service robots on emerging (mass) markets, importance of this topic will rise even further.  ... 
doi:10.14279/tuj.eceasst.60.855 dblp:journals/eceasst/ReichardtFB13 fatcat:bctffdu2bbgmngttdzyl7th44e

Traversability classification for UGV navigation: a comparison of patch and superpixel representations

Dongshin Kim, Sang Min Oh, James M. Rehg
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We demonstrate that superpixels can be computed on-line on a real robot at a sufficient frame rate to support long-range sensing and planning.  ...  However, classification at the pixel level is prone to noise and complicates the task of identifying homogeneous regions for navigation.  ...  [11] developed an SSL framework to classify the traversability of outdoor terrain using vision, where the training examples are autonomously labeled based on the outcome of the robot's attempts to drive  ... 
doi:10.1109/iros.2007.4399610 dblp:conf/iros/0002OR07 fatcat:grbhhg3frrbifgxvufhkah6hxq

An Architecture for Real-Time Control in Multi-robot Systems [chapter]

Daniel Althoff, Omiros Kourakos, Martin Lawitzky, Alexander Mörtl, Matthias Rambow, Florian Rohrmüller, Dražen Brščić, Dirk Wollherr, Sandra Hirche, Martin Buss
2009 Cognitive Systems Monographs  
The advantages and disadvantages of the architecture are rated using an existing framework for evaluation of robot architectures.  ...  It allows monitoring of the internal system state and easy logging, thus facilitating the module development.  ...  dw, hirche, mb} Acknowledgements We would like to thank Matthias Goebl from the Institute for Real-Time Computer Systems of TU München for allowing us access to the KogMo-RTDB, its documentation  ... 
doi:10.1007/978-3-642-10403-9_5 fatcat:ipkk2duvf5bb3mc6seucntcski

A framework for robust mobile robot systems

Nik A. Melchior, William D. Smart, Douglas W. Gage
2004 Mobile Robots XVII  
The framework responds to detected or immanent failures by restarting or replacing the suspect component in a manner transparent to the application programmer and the robot's operator.  ...  In this paper, we describe a recovery-oriented framework for mobile robot applications which addresses this problem in two ways.  ...  Features This section describes the desired features of a programming framework supporting autonomic computing. The details of their implementation in our system are described in section 4.  ... 
doi:10.1117/12.571599 dblp:conf/mr/MelchiorS02 fatcat:cxwhgmq2b5hdxkcz4vfxrtmxxa

Making the most of context-awareness in brain-computer interfaces

Sareh Saeedi, Tom Carlson, Ricardo Chavarriaga, Jose del R. Millan
2013 2013 IEEE International Conference on Cybernetics (CYBCO)  
In order for brain-computer interfaces (BCIs) to be used reliably for extended periods of time, they must be able to adapt to the users evolving needs.  ...  We review recently published results in the light of these three context-awareness frameworks. Then, we discuss important issues to consider when designing a shared controller for BCI.  ...  ACKNOWLEDGMENT This work is supported by Swiss National Center of Competence in Research (NCCR) Robotics and the European ICT Programme Project TOBI FP7-224631.  ... 
doi:10.1109/cybconf.2013.6617459 dblp:conf/cybconf/SaeediCCM13 fatcat:getmcxjeo5exxnbowagrmayvoi

The Challenges and Opportunities of Human-Centered AI for Trustworthy Robots and Autonomous Systems [article]

Hongmei He, John Gray, Angelo Cangelosi, Qinggang Meng, T.Martin McGinnity, Jörn Mehnen
2021 arXiv   pre-print
The trustworthiness of Robots and Autonomous Systems (RAS) has gained a prominent position on many research agendas towards fully autonomous systems.  ...  Then, the challenges in implementing trustworthy autonomous system are analytically reviewed, in respects of the five key properties, and the roles of AI technologies have been explored to ensure the trustiness  ...  The dynamics of technology for HMI requires the development of innovative approaches to HMI, and methods to support the design of complex socio-technical systems under existing framework of ethics and  ... 
arXiv:2105.04408v1 fatcat:jvlx7lkjizgnbcu2t27ndi4l3q

Self-supervised Representation Learning for Reliable Robotic Monitoring of Fruit Anomalies [article]

Taeyeong Choi, Owen Would, Adrian Salazar-Gomez, Grzegorz Cielniak
2021 arXiv   pre-print
Data augmentation can be a simple yet powerful tool for autonomous robots to fully utilise available data for self-supervised identification of atypical scenes or objects.  ...  Moreover, the proposed approach is evaluated on a new anomaly dataset Riseholme-2021, consisting of 3:5K strawberry images collected from a mobile robot, which we share with the community to encourage  ...  INTRODUCTION Agricultural mobile robots are expected to precisely assess the qualities of crops from their sensory information to autonomously perform the targeted treatment of individual plants or harvest  ... 
arXiv:2109.10135v1 fatcat:2jcus336d5cbzfh2rjpxajcwea

A gesture recognition system for the Colombian sign language based on convolutional neural networks

Fredy H. Martínez S., Faiber Robayo Betancourt, Mario Arbulú
2020 Bulletin of Electrical Engineering and Informatics  
To solve this problem we propose an autonomous model based on convolutional networks to translate the Colombian Sign Language (CSL) into normal Spanish text.  ...  The scheme uses characteristic images of each static sign of the language within a base of 24000 images (1000 images per category, with 24 categories) to train a deep convolutional network of the NASNet  ...  ACKNOWLEDGEMENTS This work was supported by the Universidad Distrital, the Universidad Surcolombiana, and the Universidad Nacional Abierta y a Distancia (UNAD).  ... 
doi:10.11591/eei.v9i5.2440 fatcat:am2xkekbgvfgzaqd5i7qr3m2lu

Detection of Lounging People with a Mobile Robot Companion [chapter]

Michael Volkhardt, Steffen Müller, Christof Schröter, Horst-Michael Groß
2011 Lecture Notes in Computer Science  
This paper deals with the task of searching for people in home environments with a mobile robot. The robust estimation of the user's position is an important prerequisite for human robot interaction.  ...  While detecting people in an upright pose is mainly solved, most of the user's various poses in living environments are hard to detect.  ...  To offer these service functionalities, the robot system provides several autonomous behaviors.  ... 
doi:10.1007/978-3-642-25489-5_32 fatcat:rc7xyypvsje3vijbfugwilsoq4
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