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In Artificial Intelligence (AI), utility functions are used to compare the relative goodness of an AI system making one decision over another. These utility functions, along with their coefficients and parameters, comprise a set of beliefs. The term “belief” is used to describe how autonomous systems associate quantified confidences in the existence of things that make up their worldly knowledge;...
Social interaction and group coordination are important factors in the simulation of human crowd behavior. To date, few simulation methods have been informed by models of human group behavior from the social science studies. In this paper we advance a computational model informed by Common Ground (CG) Theory that both inherits the social realism provided by the CG model and is computationally tractable...
Shared services is an organizational culture of sharing and innovation across the organization. It enables the sharing of services by functions of organization such as Finance, Human Resources and Information Technology through a common mechanism of a shared services centre. Delivery of services is through Information and Communication Technology infrastructure. Shared services increases productivity...
Autonomous robots are required to perform tasks in complex and dynamic environments. For this class of systems, traditional safety assuring methods are not satisfying due to the unknown effects of the interacting system with an open environment. Briefly speaking: What is not known during the development phase can not be adequately considered. In order to tackle this problem, it is proposed to extend...
Many of the geospatial data sets used in the MSP process already exist or can be compiled with minimal effort and coordination, however the lack of data representing human use, or the socioeconomic dimension of coastal and marine resources, is well documented and accepted by MSP planners. Called the “missing layer”, the human dimension of the marine environment has been used only sparingly in the...
The NATO Network-Enabled Capabilities concept (NNEC) enables NATO to maximize the sharing of information and services in a wide variety of missions, characterized by a a-priori uncertainty about the mission service requirements, partner composition and command and control structures. NNEC guidance and principles are well documented in the NNEC framework and the NNEC Body of Knowledge (BoK). Experience...
This video presents a motion planning method enabling an autonomous mobile robot to approach a person to initiate a conversation proactively. The proposed concept implements social aspects to give motions a more human-like appearance. This is intended since experiments discussed in literature have shown that it is easier for people to predict and read the purpose of human-like movements. User study...
This work extends the framework of bilateral shared control of mobile robots with the aim of increasing the robot autonomy and decreasing the operator commitment. We consider persistent autonomous behaviors where a cyclic motion must be executed by the robot. The human operator is in charge of modifying online some geometric properties of the desired path. This is then autonomously processed by the...
For effective collaboration between two humans, they are required to adapt to each other according to their apparent behavior in time. Similarly for intuitive human-robot collaboration the robot is required to adapt to the human intention apparent from his behavior. In this paper, we introduce a probability-based approach that helps the robot to adapt to the human behavior and to act proactively in...
With the fast development of national economy, human beings' needs resources and the environment are higher and higher. Therefore it is great important to acquire the information of the present situation and changes of the resources promptly, to protect and to develop sustainable for the resources and ecological environment precisely and dynamically. This paper gives a brief introduction on the GIS...
For machines to converse with humans, they must at times resolve ambiguities. We are developing a conversational robot which is able to gather information about its world through sensory actions such as touch and active shifts of visual attention. The robot is also able to gain new information linguistically by asking its human partner questions. Each kind of action, sensing and speech, has associated...
Hierarchical task network (HTN) is widely used for intelligent planning. For typical HTN algorithm, if the current state does not support any decomposition prescription, the HTN planner will not try to change the state, but just return failure. This characteristic requires technicians to compile a large prescription database, which is time consuming. To overcome this shortcoming, the paper infuses...
Goal-directed physical assistance to the human is one of the most challenging problems in the area of human-robot interaction. Planning and learning from demonstration represent two conceptually different approaches to achieve goal-directed behavior. Here we examine the properties of a planning-based and a learning-based approach in the context of physical robotic assistance for the prototypical task...
In this article, we present the architectural and algorithmic details for a COgnitive System Architecture that uses a Centralized Ontology with Specific Algorithms (COSA2). COSA2 is a layered intelligent agent framework on the basis of the modified Rasmussen model of human performance. It encompasses integrated algorithmic support for goal-oriented situation interpretation, dynamic planning and plan...
We propose a method to plan in-hand manipulation actions with a robotic anthropomorphic hand. We consider in-hand manipulation actions as sequences between canonical grasp types identified in the humans. Our work concerns the generation of this sequence, which should be autonomous and fast enough to be performed on-line. We use a Markov Decision Process (MDP) governing the transitions between grasp...
Flexible needle with bevel tip offers greater mobility for puncture surgery. This would expand the scope of the puncture surgery. However, motion planning for flexible needle is still a challenge due to its non-holonomic property and the complicated interactions with soft tissues. In this paper, a multilayer tissue model is constructed to simulate human tissue, and a dynamic programming is employed...
Building robots capable of long term autonomy has been a long standing goal of robotics research. Such systems must be capable of performing certain tasks with a high degree of robustness and repeatability. In the context of personal robotics, these tasks could range anywhere from retrieving items from a refrigerator, loading a dishwasher, to setting up a dinner table. Given the complexity of tasks...
This paper addresses the problem of planning a policy in large environments where the actions of a robot affect the distribution of uncertainty in the environment. We focus on the problem of robot navigation through interactive crowds and present an anytime receding horizon technique that uses AO* together with small look-up table solutions. We demonstrate the feasibility of this technique in simulations...
Currently, there are many models available which can be used to describe a driver's behaviour for a traffic simulation. Despite the number of available formalisms it is our opinion that existing approaches neglect the interplay between the simulation topology and strategic decisions of simulated drivers. Existing models either disregard strategy updates or focus on short-term strategies only. In this...
Often the AI techniques for decision making used in commercial games are predictable and unadaptive. Arguably, this causes a lack of realism for the players. We believe that emotions are a vital part in the creation of interesting and believable non-player characters for games. In this paper, we present an extension to behavior trees that incorporates emotions into the decision making. Specifically,...
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