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In this video we present a social robotic player that is able to play a traditional card game in a social manner. The interaction takes place in a rich environment in which two teams of two players each compete to win the card game. Therefore, the robotic game player has a partner, and an opponent team of two other players. During each game, the robot explores both competitiveness with the opponent...
This paper provides both the core ideas of a heterogeneous marsupial robotic System and the details of the practical aspects related to its hardware architecture and cooperative system structure. This heterogeneous marsupial robotic system is composed by an unmanned surface vehicle (USV) that acts as a carrier and an unmanned aerial vehicle (UAV) that acts as a passenger, and it is designed for military...
We present a hierarchical self-organizing map based system for online recognition of human actions. We have made a first evaluation of our system by training it on two different sets of recorded human actions, one set containing manner actions and one set containing result actions, and then tested it by letting a human performer carry out the actions online in real time in front of the system's 3D-camera...
Micro robots with artificial intelligence (AI) are being investigated for many applications, such as unmanned delivery services. The robots, shown in Fig. 14.3.1, have enhanced controllers that realize AI functions, such as perception (information extraction) and cognition (decision making). Historically, controllers have been based on general-purpose CPUs, and only recently, a few perception SoCs...
In a teleoperated system, robots are often required to easily change among various modes of operation; further, an efficient development of large-scale teleoperated systems is desired. Thus, we propose a three-layer software architecture implemented using a database node module (DNM). All modules are connected to a DNM, with connections among modules defined as virtual connections. It is possible...
We present and analyze a hybrid computational architecture for performing multi-agent optimization. The optimization problems under consideration have convex objective and constraint functions with mild smoothness conditions imposed on them. For such problems, we provide a primal-dual algorithm implemented in the hybrid architecture, which consists of a decentralized network of agents into which an...
Currently, an increasing number of initiatives are observed aiming at enriching automation environment with modern Information and Communication Technologies (ICT). The desired solutions should lead to increasing and facilitating interoperability of production systems and their components. To realize this vision, a key component is an open and standardized communication platform. Meanwhile, OPC Unified...
A major challenge in swarm robotics is to minimize energy and time costs. We focus in this paper on multi-agent foraging algorithms that uses ant-like agents with limited energy. By considering energy consumption, we propose a new Energy aware Cooperative Switching Algorithm for Foraging (EC-SAF) that optimizes the whole system search and transport operations needed to collect resources over time...
We introduce a unified modular control architecture and virtual-reality evaluation framework to extend the use of socially capable humanoid robots. Our methodology is based on a unique gesture and facial expression representation module, called cascaded Temporal Disc Controllers (TDCs), that represents all emotional expressions, gestures and time-variant actions in a normalized mathematical space...
In this work we introduce the development of custom embedded servo-drivers intended to control robotic tele-operation joints. We present a class architecture which makes them simple to modify and improve, so as to implement a wide variety of control schemes in a fast and efficient manner. The tele-operation system under development is to be employed to operate industrial robots throughout inspection...
The use of emotional states for Human-Robot Interaction (HRI) has attracted considerable attention in recent years. One of the most challenging tasks is to recognize the spontaneous expression of emotions, especially in an HRI scenario. Every person has a different way to express emotions, and this is aggravated by the complexity of interaction with different subjects, multimodal information and different...
Complex tasks are often handled through software implementation in combination with high performance processors. Taking advantage of hardware parallelism, FPGA is breaking the paradigm by accomplishing more per clock cycle with closely matched application requirements. With the aim to minimise computation delay with increase in map's size and geometric constraints, we present the FPGA based combinatorial...
In this work we propose a plan repair algorithm designed to be used in a real-life setting for a team of autonomous robots. This algorithm is built on top of a hybrid planner. This planner mixes partial order planning and hierarchical planning. This allows the creation of a plan with temporal flexibility while using human knowledge to improve the search process. Simulation shows that repairing increases...
Mobile robots are nowadays used in a wide variety of missions especially for exploring environments and allowing scientists who study these environments to gather data about them. However the monolithic design of control laws is often a hindrance to adapting control solutions from a robotic application to another. We thus propose a new control description paradigm strongly focused on modularity as...
Robotics applications are characterized by a huge amount of variability. Their design requires the developers to choose between several variants, which relate to both functionalities and hardware. Some of these choices can be taken at deployment-time, however others should be taken at run-time, when more information about the context is known. To make this possible, a software system needs to be able...
Multi-rate systems arise naturally in distributed settings where computing units execute periodically according to their local clocks and communicate among themselves via message passing. We present a systematic way of designing and verifying such systems with the assumption of bounded drift for local clocks and bounded communication latency. First, we capture the system model through an architecture...
Since its official introduction in 2012, the Robot Web Tools project has grown tremendously as an open-source community, enabling new levels of interoperability and portability across heterogeneous robot systems, devices, and front-end user interfaces. At the heart of Robot Web Tools is the rosbridge protocol as a general means for messaging ROS topics in a client-server paradigm suitable for wide...
Image processing algorithms in today electronics market pose the need for increasing computation capabilities at a limited power budget. Modern applications in the robotics and cyber-physical systems domains require image acquisition, analysis and information extraction to be executed on embedded low-power, portable and autonomous devices, requiring novel architecture solutions to be studied and implemented...
The concept of proximity has been recently adopted in various fields of interest, with different meanings and implementations. In the Information Technology area, for example, proximity was used for analyzing user location and nearness to objects/people, and has already changed the way people interact with each other and with technology itself. In this field, the concept is becoming more important...
Future robotic systems are being implemented using control architectures based on emotions. In these architectures, the emotional processes decide which behaviors the robot must activate to fulfill the objectives. The number of emotional processes increases with the complexity level of the application, limiting the processing capacity of the control processor to solve complex problems. Fortunately,...
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