Human-robot collaborative high-level control with application to rescue robotics

Schillinger, Philipp; Kohlbrecher, Stefan; Stryk, Oskar von

doi:10.1109/icra.2016.7487442

Cited by 76 publications

(41 citation statements)

References 9 publications

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“…(STEP.1) We divided the collected mission requirements among two of the authors, who labeled them with keywords that describe the mission specification problems they describe. For example, the mission requirement "The robot has to autonomously patrol the site and measure the state of valve levers and dial gauges at four checkpoints in order to decide if some machines need to be shut down" (occuring in Schillinger et al [72]) was associated with the keywords "patrol," since the robot has to patrol the site, and "instantaneous reaction," since when a valve is reached its level must be checked.…”

Section: Methodsmentioning

confidence: 99%

Specification Patterns for Robotic Missions

Menghi

Tsigkanos

Ghezzi

et al. 2021

IIEEE Trans. Software Eng.

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Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need, a large number of domain-specific specification languages has been proposed. These, in addition to traditional logical languages, allow the use of formally specified missions for synthesis, verification, simulation, or guiding the implementation. For instance, the logical language LTL is commonly used by experts to specify missions, as an input for planners, which synthesize the behavior a robot should have. Unfortunately, domain-specific languages are usually tied to specific robot models, while logical languages such as LTL are difficult to use by non-experts.We present a catalog of 22 mission specification patterns for mobile robots, together with tooling for instantiating, composing, and compiling the patterns to create mission specifications. The patterns provide solutions for recurrent specification problems, each of which detailing the usage intent, known uses, relationships to other patterns, and-most importantly-a template mission specification in temporal logic. Our tooling produces specifications expressed in the LTL and CTL temporal logics to be used by planners, simulators, or model checkers. The patterns originate from 245 realistic textual mission requirements extracted from the robotics literature, and they are evaluated upon a total of 441 real-world mission requirements and 1251 mission specifications. Five of these reflect scenarios we defined with two well-known industrial partners developing human-size robots. We validated our patterns' correctness with simulators and two real robots.

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Section: Methodsmentioning

confidence: 99%

Specification Patterns for Robotic Missions

Menghi

Tsigkanos

Ghezzi

et al. 2021

IIEEE Trans. Software Eng.

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“…Manipulation was not required. The winning team Argonauts (Kohlbrecher & Von Stryk, ; Schillinger, Kohlbrecher, & von Stryk, ) utilized a tracked robot equipped with a multimodal sensor arm.…”

Section: Related Workmentioning

confidence: 99%

Team NimbRo at MBZIRC 2017: Autonomous valve stem turning using a wrench

Schwarz

Droeschel

Lenz

et al. 2018

Journal of Field Robotics

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The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 has defined ambitious new benchmarks to advance the state‐of‐the‐art in autonomous operation of ground‐based and flying robots. In this study, we describe our winning entry to MBZIRC Challenge 2: the mobile manipulation robot Mario. It is capable of autonomously solving a valve manipulation task using a wrench tool detected, grasped, and finally used to turn a valve stem. Mario’s omnidirectional base allows both fast locomotion and precise close approach to the manipulation panel. We describe an efficient detector for medium‐sized objects in three‐dimensional laser scans and apply it to detect the manipulation panel. An object detection architecture based on deep neural networks is used to find and select the correct tool from grayscale images. Parametrized motion primitives are adapted online to percepts of the tool and valve stem to turn the stem. We report in detail on our winning performance at the challenge and discuss lessons learned.

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“…ROS Commander [9], XABSL [10], Smach [11], and Flexbe [12] are also examples for behavior programming frameworks that offer usable concepts. Unfortunately, the development of ROS Commander and XABSL discontinued several years ago.…”

Section: A Comparison With Related Task Programming Frameworkmentioning

confidence: 99%

Design, Execution, and Postmortem Analysis of Prolonged Autonomous Robot Operations

Brunner

Lehner

Schuster

et al. 2018

IEEE Robot. Autom. Lett.

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ueywordsX utonomous gentsY¢eld rootsYmiddlewre nd progrmming environmentsYmoile mnipultionYspe rootis nd utomtion Copyright NoticeAbstract-In the context of space missions and terrestrial applications, both mission goals and task implementations for autonomous robots are becoming increasingly complex. Thus, the challenge of monitoring the achievement of task objectives and checking the correctness of their implementation is becoming more and more difficult. To tackle these problems, we propose an unified architecture that supports different stakeholders during the different phases of the deployment: 1) the design phase; 2) the runtime phase; 3) the post-mortem analysis phase. Furthermore, we implement this architecture by enhancing our task programming framework RAFCON with powerful logging, debugging and profiling capabilities. We demonstrate the efficiency of our approach in the context of the ROBEX mission, during which the DLR Lightweight Rover Unit autonomously deployed several seismometers in an unknown rough terrain on Mt. Etna, Sicily. The analysis results for a state machine consisting of more than 1500 states and more than 1900 transitions are presented. Finally, we give a comparison between our framework and related software tools.

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Human-robot collaborative high-level control with application to rescue robotics

Cited by 76 publications

References 9 publications

Specification Patterns for Robotic Missions

Specification Patterns for Robotic Missions

Team NimbRo at MBZIRC 2017: Autonomous valve stem turning using a wrench

Design, Execution, and Postmortem Analysis of Prolonged Autonomous Robot Operations

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