Modular software architecture for human-robot interaction applied to the InterBot mobile robot

Cruz, Ricardo; Garrote, Luís; Lopes, Ana Cristina Macário; Nunes, Urbano

doi:10.1109/icarsc.2018.8374154

Cited by 13 publications

(4 citation statements)

References 8 publications

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“…Under this view, task planning is either subordinated to this interaction manager or encompassed into it. Similarly, robotics researchers will typically place task/motion planners at the center of their architecture and will often relegate dialogue management to a second-order component limited to handling speech inputs/outputs [10,13].…”

Section: Decision-making In Human-robot Interactionmentioning

confidence: 99%

Who's in Charge? Roles and Responsibilities of Decision-Making Components in Conversational Robots

Lison¹,

Kennington²

2023

Preprint

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Software architectures for conversational robots typically consist of multiple modules, each designed for a particular processing task or functionality. Some of these modules are developed for the purpose of making decisions about the next action that the robot ought to perform in the current context. Those actions may relate to physical movements, such as driving forward or grasping an object, but may also correspond to communicative acts, such as asking a question to the human user. In this position paper, we reflect on the organization of those decision modules in human-robot interaction platforms. We discuss the relative benefits and limitations of modular vs. end-to-end architectures, and argue that, despite the increasing popularity of end-to-end approaches, modular architectures remain preferable when developing conversational robots designed to execute complex tasks in collaboration with human users. We also show that most practical HRI architectures tend to be either robot-centric or dialogue-centric, depending on where developers wish to place the "command center" of their system. While those design choices may be justified in some application domains, they also limit the robot's ability to flexibly interleave physical movements and conversational behaviours. We contend that architectures placing "action managers" and "interaction managers" on an equal footing may provide the best path forward for future human-robot interaction systems.

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Section: Decision-making In Human-robot Interactionmentioning

confidence: 99%

Who's in Charge? Roles and Responsibilities of Decision-Making Components in Conversational Robots

Lison¹,

Kennington²

2023

Preprint

View full text Add to dashboard Cite

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“…The ISR RGB-D Dataset [28] is a non-object centric RGB-D dataset, recorded at the Institute of Systems and Robotics (ISR-UC) facilities using a camera sensor onboard the ISR-InterBot [43] mobile platform. The dataset presents a mission performed by the platform in a real scenario setting, representing object conditions under which mobile robot platforms may navigate.…”

Section: Isr Tracking Datasetmentioning

confidence: 99%

“…(2) ISR Tracking Dataset: It is composed of 10,000 RGB-D raw images acquired by an Intel RealSense D435 sensor onboard a mobile robot platform [43], representing the object conditions under which robotic platforms may navigate. Nine object classes were annotated for multi-object tracking tasks, achieving a total of 32,635 object bounding boxes and 329 object sequences.…”

Section: Datasetsmentioning

confidence: 99%

Sort and Deep-SORT Based Multi-Object Tracking for Mobile Robotics: Evaluation with New Data Association Metrics

et al. 2022

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Multi-Object Tracking (MOT) techniques have been under continuous research and increasingly applied in a diverse range of tasks. One area in particular concerns its application in navigation tasks of assistive mobile robots, with the aim to increase the mobility and autonomy of people suffering from mobility decay, or severe motor impairments, due to muscular, neurological, or osteoarticular decay. Therefore, in this work, having in view navigation tasks for assistive mobile robots, an evaluation study of two MOTs by detection algorithms, SORT and Deep-SORT, is presented. To improve the data association of both methods, which are solved as a linear assignment problem with a generated cost matrix, a set of new object tracking data association cost matrices based on intersection over union, Euclidean distances, and bounding box metrics is proposed. For the evaluation of the MOT by detection in a real-time pipeline, the YOLOv3 is used to detect and classify the objects available on images. In addition, to perform the proposed evaluation aiming at assistive platforms, the ISR Tracking dataset, which represents the object conditions under which real robotic platforms may navigate, is presented. Experimental evaluations were also carried out on the MOT17 dataset. Promising results were achieved by the proposed object tracking data association cost matrices, showing an improvement in the majority of the MOT evaluation metrics compared to the default data association cost matrix. In addition, promising frame rate values were attained by the pipeline composed of the detector and the tracking module.

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“…En términos de modularidad e integración, Cruz R et al [20] proponen una arquitectura humano-robot desacoplada con posibilidad de integrar nuevos dispositivos. Sin embargo, utilizan un HMI el cual no es un elemento que le incorpora robustez, pero encarece el producto.…”

Section: Análisis De Interfaz Gráfica De Usuariounclassified

Interfaz gráfica para el control de seguimiento de trayectorias de un robot sanitizador en espacios controlados

et al. 2021

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En el presente trabajo se propone un Desarrollo de Interfaz Gráfica de Usuario para la interacción con un modelo de simulación tridimensional de un robot higienizador en una sala simulada para las pruebas de algoritmos de navegación implementados en el mismo. Al mismo tiempo, se implementan los comportamientos de exploración y planificación de rutas de desinfección. El modelo simulado del robot se basa en la Rueda Omnidireccional Nexus 4WOmni de la que también se propone el modelo cinemático. Además, se propone una interfaz gráfica de usuario para dar comandos básicos al robot simulado. Los resultados de la implementación se comprueban mediante la implementación de algoritmos de navegación al robot, también los comportamientos de exploración, planificación de rutas y seguimiento de trayectoria de desinfección e interacción de la interfaz gráfica con la simulación.

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Modular software architecture for human-robot interaction applied to the InterBot mobile robot

Cited by 13 publications

References 8 publications

Who's in Charge? Roles and Responsibilities of Decision-Making Components in Conversational Robots

Who's in Charge? Roles and Responsibilities of Decision-Making Components in Conversational Robots

Sort and Deep-SORT Based Multi-Object Tracking for Mobile Robotics: Evaluation with New Data Association Metrics

Interfaz gráfica para el control de seguimiento de trayectorias de un robot sanitizador en espacios controlados

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