Cognitive Robotics

Cognitive Robotics

Hybris-C1: Planning and Action Control under Uncertainty for Mobile Manipulation Tasks

Submitted by Jens Claßen on 1. February 2013 - 19:00

Mobile robots that are deployed, for instance, for domestic tasks, need to fulfill them even if they do not have complete information about the domain beforehand. Consider, for example, the task of fetching an object from a specific room. Consider further that the robot has a map of the environment and that it can plan a path to the living room. However, only when reaching the door of the living room, it will know whether or not the door is open. Moreover, it might not be known where in the living room the object is located such that the robot needs to make a plan how to find it. Next, a plan for grabbing the object in a safe way is required. This includes taking camera shots from different angles and finding an appropriate location to grab the object. Basically, the action control of the robot continuously needs to combine active perception and high-level planning with action execution. The robot has to deal with qualitative action and world descriptions as well as with uncertainty and quantitative data from sensors and actuators. The objective of this project is to develop methods for solving tasks like the above in an intelligent way by combining perception, high-level planning and action execution. An evaluation of the developed methods will be conducted on existing mobile robotic platforms.
Homepage: http://www.hybrid-reasoning.org/projects/c1

Robotino Hackathon 2013

Submitted by tim on 25. January 2013 - 16:10

Together with the IMA/ZLW & IFU Institute Cluster, RWTH Aachen University and the Department for Electrical Engineering and Information Technology, Robotics Group, FH Aachen we founded a new joint team to participate in the RoboCup Logistics League sponsored by Festo (LLSF)

As a preparation for RoboCup 2013 in Eindhoven, there will be a Hackathon from February 25th to March 1st. The goal of this Hackathon is to develop high-level programs for reasoning and behavior execution for the new tasks and challenges in the LLSF. integrate a robotics system based on the Robotino robot, that can complete certain logistics task in a restricted environment.

Seminar Plan and Activity Recognition SS 2013

Submitted by Christoph Schwering on 11. January 2013 - 15:14

In this seminar we will study several different approaches to and aspects of plan and activity recognition. Recognizing what other agents are doing is an important aspect of intelligent systems. For example, a domestic service robot needs to understand what the human is doing in order to interact with him in a reasonable way. And a self-driving car should know what the other traffic participants are doing right now and infer what they are going to do in the next moments. Different domains bring along different problems and needs for levels of expressiveness like partial observability, incomplete knowledge, non-deterministic actions, adversarial agents, potentially hazardous situations. We will study some of the latest research on these problems and work out the particular strengths and weaknesses.

The topics include recent papers on plan and activity recognition.

Robotino Hackathon 2012

Submitted by tim on 18. April 2012 - 19:40

Together with the IMA/ZLW & IFU Institute Cluster, RWTH Aachen University and the Department for Electrical Engineering and Information Technology, Robotics Group, FH Aachen we founded a new joined team to participate in the Festo RoboCup Logistics League

To kick off the team, and as a preparation for RoboCup 2012 in Mexico City, there will be a Hackathon from May 28th to June 1st (excursion week). The goal of this Hackathon is to integrate a robotics system based on the Robotino robot, that can complete certain logistics task in a restricted environment.

Seminar Robust Reliable Robotics SS 2012

Submitted by tim on 9. January 2012 - 13:10

In this seminar we will study several aspects of robust and reliable robotics. Robots are machines created to fulfill particular tasks instead of or in cooperation with humans. In virtually all scenarios a failure is annoying or even catastrophic. Planetary rovers cannot be repaired easily or at all, broken factory robots can become vastly expensive not only due to the cost to repair the robot itself, but the problems they cause for the overall supply chain; and domestic service robots operate in close proximity to humans in their habitats and must take special precautions as not to harm a human or damage the interior. These considerations make it necessary to develop techniques and systems that enable a robot system to detect failures or unexpected behavior and at least stop, better even work around the problem.

The topics include recent papers on execution monitoring, robot system debugging, and fault detection.

Diploma Thesis: Flexible Command Interpretation on a Mobile Robot using ReadyLog [completed]

Submitted by stf on 2. September 2010 - 17:44

Description

In Domestic Service Robotics (DSR) human-robot interaction has to be as natural as possible since the robot should be easily operable even by laymen. Spoken language is a feasible means to do so but commands issued to a robot are often ill-formed or incomplete. The goal is to develop a system that is capable of successfully interpreting such commands.