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Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add significant cognitive load and potentially introduce safety risks to humans when agents behave in unexpected ways. Hence, for such agents to be helpful, one important...
Motion planning of a robotic arm has been an important area of research for the last decade with the growing application of robot arms in medical science and industries. In this paper the problem of motion planning has been dealt with in two stages, first by developing appropriate cost functions to determine a set of via points and then fitting an optimal energy trajectory. Lbest Particle Swarm Optimization...
It has long been assumed that for effective human-robot teaming, it is desirable for assistive robots to infer the goals and intents of the humans, and take proactive actions to help them achieve their goals. However, there has not been any systematic evaluation of the accuracy of this claim. On the face of it, there are several ways a proactive robot assistant can in fact reduce the effectiveness...
Recently there has been a lot of focus on human robot co-habitation issues that are often orthogonal to many aspects of human-robot teaming; e.g. on producing socially acceptable behaviors of robots and de-conflicting plans of robots and humans in shared environments. However, an interesting offshoot of these settings that has largely been overlooked is the problem of planning for serendipity - i...
Beliefs play an important role in human-robot teaming scenarios, where the robots must reason about other agents' intentions and beliefs in order to inform their own plan generation process, and to successfully coordinate plans with the other agents. In this paper, we cast the evolving and complex structure of beliefs, and inference over them, as a planning and plan recognition problem. We use agent...
This paper proposes a novel approach for error concealment in corrupted frames, using the Candide 3.0 face model. In head and shoulder video sequences, for example in live chats and video conferencing, error concealment performance may be improved using methods that are specifically designed to handle the structural details of the human face. The proposed approach uses perspective projection to adapt...
This article provides a swarm intelligence approach to 3D face recognition. A parametric evolutionary face model is proposed and the optimal parameters are determined by minimizing an error function. The extracted parameters are employed in the recognition phase for classification. Experimental validations have been performed on the neutral face scans of the CASIA Face Database, a challenging database...
In recent years there has been a growing trend in the application of Memetic Algorithms for solving numerical optimization problems. They are population based search heuristics that integrate the benefits of natural and cultural evolution. In this paper, we propose an Adaptive Memetic Algorithm, named LA-DE which employs a competitive variant of Differential Evolution for global search and Learning...
The paper provides a novel approach to control the motion and orientation of a mobile robot using an encoded sequence of arm movements, obtained from the motor imagery indicated by electroencephalographic measurements. The importance of the proposed scheme lies in maintaining secrecy and privacy in control or management of remote robotic systems, as the signals liberated from the user's brain is not...
In this paper we propose an energy efficient method for path planning by a robot arm. First we have developed a cost function that provides a set of via points determining a suitable path according to the obstacles present in the surroundings and other restrictions in its motion. Then we fit a suitable polynomial to this set of interior points to ensure that the journey is smooth and takes place with...
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