Open-EASE

Beetz, Michael; Tenorth, Moritz; Winkler, Jan

doi:10.1109/icra.2015.7139458

Cited by 47 publications

(15 citation statements)

References 27 publications

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“…Cloud Robotics was initially defined in [45,46] as "an approach to robotics that takes advantage of the Internet as a resource for massive parallel computation and real-time sharing of vast data resources". An example of a framework for cloud robotics is Rapyuta [47], which is used in the RoboEarth project [48]. Robot Web Tools [15] provides a set of open source modules using the rosbridge protocol as main technology to enable Client/Server messaging of ROS topics over wide area networks WAN.…”

Section: What Is Nep?mentioning

confidence: 99%

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Coronado

Venture

2020

Sensors

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This article presents the novel Python, C# and JavaScript libraries of Node Primitives (NEP), a high-level, open, distributed, and component-based framework designed to enable easy development of cross-platform software architectures. NEP is built on top of low-level, high-performance and robust sockets libraries (ZeroMQ and Nanomsg) and robot middlewares (ROS 1 and ROS 2). This enables platform-independent development of Human–Robot Interaction (HRI) software architectures. We show minimal code examples for enabling Publish/Subscribe communication between Internet of Things (IoT) and Robotics modules. Two user cases performed outside laboratories are briefly described in order to prove the technological feasibility of NEP for developing real-world applications. The first user case briefly shows the potential of using NEP for enabling the creation of End-User Development (EUD) interfaces for IoT-aided Human–Robot Interaction. The second user case briefly describes a software architecture integrating state-of-art sensory devices, deep learning perceptual modules, and a ROS -based humanoid robot to enable IoT-aided HRI in a public space. Finally, a comparative study showed better latency results of NEP over a popular state-of-art tool (ROS using rosbridge) for connecting different nodes executed in local-host and local area network (LAN).

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Section: What Is Nep?mentioning

confidence: 99%

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Coronado

Venture

2020

Sensors

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“…Many times trajectory-level descriptions of actions, object properties, and high-level goals of the manipulation were brought together through STRIPS-like planning (Beetz et al, 2015; Dillmann et al, 2010; Kunze et al, 2011), resulting in operational although not very transparent systems. The approaches in Ahmadzadeh and Kormushev (2016); Ahmadzadeh et al (2015) attempted to integrate symbolic action representation and planner with a motor skill learner.…”

Section: State Of the Artmentioning

confidence: 99%

Library of actions: Implementing a generic robot execution framework by using manipulation action semantics

Aein

Aksoy

Wörgötter

2019

The International Journal of Robotics Research

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When a robot has to imitate an observed action sequence, it must first understand the inherent characteristic features of the individual actions. Such features need to reflect the semantics of the action with a high degree of invariance between different demonstrations of the same action. At the same time the machine needs to be able to execute the action sequence in any appropriate situation. In this study, we introduce a new library of actions, which is a generic framework for executing manipulation actions on robotic systems by combining features that capture action semantics with a framework for execution. We focus on manipulation actions and first create a generic representation consisting of symbolic and sub-symbolic components. To link these two domains we introduce a finite state machine allowing for sequential execution with error handling. The framework is developed from observing humans which provides us with a high degree of grounding. To quantitatively evaluate the scalability of the proposed approach, we conducted a large set of experiments involving different actions performed either individually or sequentially with various types of objects in different scene contexts.

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“…The use of this formalism allows us among other things to directly load ontologies from Internet. This facilitates the extension of the knowledge base of the robot by sharing knowledge bases between artificial agents (as allowed by Open-EASE [24] with its sharing of procedures). In addition, research has been undertaken to standardize ontologies for robotics [25].…”

Section: Rationalementioning

confidence: 99%

Ontologenius: A long-term semantic memory for robotic agents

Sarthou

Clodic

Alami

2019

2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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In this paper we present Ontologenius, a semantic knowledge storage and reasoning framework for autonomous robots. More than a classic ontology software to query a knowledge base and a first-order internal logic as it can be done for web-semantics, we propose with Ontologenius features adapted to a robotic use including human-robot interaction. We introduce the ability to modify the knowledge base during execution, whether through dialogue or geometric reasoning, and keep these changes even after the robot is powered off. Since Ontologenius was developed to be used by a robot which interacts with humans, we have endowed the system with ability to perform attributes and properties generalization and with the possibility to model and estimate the semantic memory of a human partner and to implement theory of mind processes. This paper presents the architecture and the main features of Ontologenius as well as examples of its use in robotics applications.

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Open-EASE

Cited by 47 publications

References 27 publications

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Towards IoT-Aided Human–Robot Interaction Using NEP and ROS: A Platform-Independent, Accessible and Distributed Approach

Library of actions: Implementing a generic robot execution framework by using manipulation action semantics

Ontologenius: A long-term semantic memory for robotic agents

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