PRIveT – a portable ubiquitous robotics testbed for adaptive human-robot interaction

Sandygulova, Anara; Dragone, Mauro; O’Hare, Gregory M. P.

doi:10.3233/ais-150356

“…The communication middleware described in this paper has also been used to provide a portable demonstration of a cognitive robotic ecology Specifically, the system described in [41] exploits the plug&play, peer-topeer communication between WSN and robots and zero-configuration features afforded by the middleware to demonstrate the main concepts behind robotic ecologies. The system shows people a working example consisting of robots, sensors and cameras working together and exchanging information to deliver an interactive demonstration.…”

Section: Related Workmentioning

confidence: 99%

A Communication Layer for Integrated Sensors and Robotic ecology Solutions to Ambient Intelligence

Amato,

Chessa,

Dragone

et al. 2021

Preprint

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This paper presents a communication framework built to simplify the construction of robotic ecologies, i.e., networks of heterogeneous computational nodes interfaced with sensors, actuators, and mobile robots. Building integrated ambient intelligence (AmI) solutions out of such a wide range of heterogeneous devices is a key requirement for a range of application domains, such as home automation, logistic, security and Ambient Assisted Living (AAL). This goal is challenging since these ecologies need to adapt to changing environments and especially when they include tiny embedded devices with limited computational resources. We discuss a number of requirements characterizing this type of systems and illustrate how they have been addressed in the design of the new communication framework. The most distinguishing aspect of our frameworks is the transparency with which the same communication features are offered across heterogeneous programming languages and operating systems under a consistent API. Finally, we illustrate how the framework has been used to bind together and to support the operations of all the components of adaptive robotic ecologies in two real-world test-beds.

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“…This ubiquitous robotics paradigm is leveraged to provide more complex and more efficient robot services to humans. For example, Sandygulova et al developed a portable ubiquitous robotics testbed consisting of a kitchen equipped with a wireless sensor network, a camera and mobile robot [37] and Djaid et al integrate a robot wheelchair with a manipulatable arm into an intelligent environment [11]. Other applications comprise the improvement of a mobile robot's object search [41], the development of a human-aware task planner based on observations of the smart environment [9] and a gesture-based object localization approach for robot applications in intelligent environments [42].…”

Section: Network Robot Systemsmentioning

confidence: 99%

Interactive restriction of a mobile robot’s workspace in a smart home environment

Sprute

¹

,

Tönnies

²

,

König

³

2019

AIS

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Virtual borders are employed to allow humans the interactive and flexible restriction of their mobile robots' workspaces in human-centered environments, e.g. to exclude privacy zones from the workspace or to indicate certain areas for working. They have been successfully specified in interaction processes using methods from human-robot interaction. However, these methods often lack an expressive feedback system, are restricted to robot's on-board interaction capabilities and require a direct line of sight between human and robot. This negatively affects the user experience and interaction time. Therefore, we investigate the effect of a smart environment on the teaching of virtual borders with the objective to enhance the perceptual and interaction capabilities of a robot. For this purpose, we propose a novel interaction method based on a laser pointer, that leverages a smart home environment in the interaction process. This interaction method comprises an architecture for a smart home environment designed to support the interaction process, the cooperation of human, robot and smart environment in the interaction process, a cooperative perception including stationary and mobile cameras to perceive laser spots and an algorithm to extract virtual borders from multiple camera observations. The results of an experimental evaluation support our hypotheses that our novel interaction method features a significantly shorter interaction time and a better user experience compared to an approach without support of a smart environment. Moreover, the interaction method does not negatively affect other user requirements concerning completeness and accuracy.

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“…This ubiquitous robotics paradigm is leveraged to provide more complex and more efficient robot services to humans. For example, Sandygulova et al developed a portable ubiquitous robotics testbed consisting of a kitchen equipped with a wireless sensor network, a camera and mobile robot [26] and Djaid et al integrate a robot wheelchair with a manipulatable arm into an intelligent environment [27]. Other applications comprise the improvement of a mobile robot's object search [28], the development of a human-aware task planner based on observations of the smart environment [29] and a gesture-based object localization approach for robot applications in intelligent environments [30].…”

Section: Network Robot Systemsmentioning

confidence: 99%

Interactive Restriction of a Mobile Robot's Workspace in a Smart Home Environment

Sprute,

Tönnies,

König

2019

Preprint

0

View full text Add to dashboard Cite

Virtual borders are employed to allow humans the interactive and flexible restriction of their mobile robots' workspaces in human-centered environments, e.g. to exclude privacy zones from the workspace or to indicate certain areas for working. They have been successfully specified in interaction processes using methods from human-robot interaction. However, these methods often lack an expressive feedback system, are restricted to robot's on-board interaction capabilities and require a direct line of sight between human and robot. This negatively affects the user experience and interaction time. Therefore, we investigate the effect of a smart environment on the teaching of virtual borders with the objective to enhance the perceptual and interaction capabilities of a robot. For this purpose, we propose a novel interaction method based on a laser pointer, that leverages a smart home environment in the interaction process. This interaction method comprises an architecture for a smart home environment designed to support the interaction process, the cooperation of human, robot and smart environment in the interaction process, a cooperative perception including stationary and mobile cameras to perceive laser spots and an algorithm to extract virtual borders from multiple camera observations. The results of an experimental evaluation support our hypotheses that our novel interaction method features a significantly shorter interaction time and a better user experience compared to an approach without support of a smart environment. Moreover, the interaction method does not negatively affect other user requirements concerning completeness and accuracy.

show abstract

PRIveT – a portable ubiquitous robotics testbed for adaptive human-robot interaction

Cited by 10 publications

References 19 publications

A Communication Layer for Integrated Sensors and Robotic ecology Solutions to Ambient Intelligence

A Communication Layer for Integrated Sensors and Robotic ecology Solutions to Ambient Intelligence

Interactive restriction of a mobile robot’s workspace in a smart home environment

Interactive Restriction of a Mobile Robot's Workspace in a Smart Home Environment

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