RoboCup@Home: Results in Benchmarking Domestic Service Robots

Wisspeintner, Thomas; Zan, Tijn van der; Iocchi, Luca; Schiffer, Stefan

doi:10.1007/978-3-642-11876-0_34

Cited by 43 publications

(49 citation statements)

References 14 publications

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“…When considering robotic arms, a quite common approach to avoid these problems consists in organising scientific competitions and contests where benchmarks are usually discussed and then accepted by all the participants. Different famous competitions are known for complete integrated robotic systems, such as the defense advanced research projects agency's (DARPA) Grand Challenges [6], or the RoboCup@Home [7] (a competitive scenario for service robots). Unfortunately, participation in such big events is usually limited to a few selected groups, often simply because of limited resources and the lack of necessary hardware.…”

Section: Related Research Workmentioning

confidence: 99%

See 1 more Smart Citation

A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface

Sanfilippo

Hatledal

Pettersen

et al. 2018

IEEE J. Oceanic Eng.

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A benchmark framework for advanced control methods of maritime cranes is presented based on the use of the Functional Mockup Interface (FMI). The system integrates different manipulator models, all the corresponding hydraulic systems, various vessels, and the surrounding environment for visualisation. Different control methods can be transparently implemented and tested. A set of routine tests, different cost functions and metrics are provided -taking into account several factors, including position accuracy, energy consumption, quality, and safety for both the cranes and the surrounding environment. The concept of operation profiles (OP) is introduced, allowing for definition of different standard transporting and lifting operations. By considering task-oriented routines, this benchmark suite allows the comparison of different control methods independently from the specific crane model to be controlled.Two alternative control methods for maritime cranes based on the use of artificial intelligence (AI) are extensively compared. The first method is based on the use of genetic algorithms (GA), while the second method involves the use of particle swarm optimisation (PSO). Simulation results are presented for both methods.

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Section: Related Research Workmentioning

confidence: 99%

“…Moreover, the total joint effort for the considered OP is calculated by using equation (7). The results are shown in Table I for the two considered approaches.…”

Section: B Effectivenessmentioning

confidence: 99%

A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface

Sanfilippo

Hatledal

Pettersen

et al. 2018

IEEE J. Oceanic Eng.

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“…It is essential that scientific standards are applied to this type of flexible benchmarking. In RoboCup@Home statistical analysis of the outcome of the competition is used to steer the league into interesting directions (see [1] for details).…”

Section: Domestic Service Robots Benchmarksmentioning

confidence: 99%

“…In the field of domestic service robotics, RoboCup@Home [1] is the largest initiative in terms of both the number of participating teams and the amount of research issues taken into account. The goal of RoboCup@Home is to foster the development of versatile domestic service robots, that can operate safely in all situations that people encounter in daily life, through a dynamical form of benchmarking formed by many different tests where many functionalities are tested at the same time in an integrated way.…”

Section: Introductionmentioning

confidence: 99%

Domestic Service Robots in the Real World

Iocchi

Ruiz‐del‐Solar

Zant

2011

J Intell Robot Syst

Self Cite

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“…One of the most promising applications for a service robot is to provide services for untrained and non-technical users at home. Then, as a part of RoboCup, RoboCup@Home league [13] was held to develop service robots for future personal domestic applications and the RoboCup@Home competition is held each year since 2006. In the competition, a number of standard tests are used to evaluate robots' functions and performance in a realistic non-standardized home environment setting.…”

Section: Introductionmentioning

confidence: 99%

Simulation Competitions on Domestic Robots

Sui

Jin

et al. 2013

RoboCup 2012: Robot Soccer World Cup XVI

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Abstract. This paper reports a series of simulation competitions on domestic robots. All of these five competitions were based on a simulation platform focused on evaluating high-level functions of a domestic robot, including task planning and dialogue understanding. The object of holding these competitions is to promote research and development of service robots while avoiding limitations imposed by hardware of real robots. We also analyze the results and performances of participating teams since the competition was first held in 2009, showing that more and more terms are participating and they are performing better and better.

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RoboCup@Home: Results in Benchmarking Domestic Service Robots

Cited by 43 publications

References 14 publications

A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface

A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface

Domestic Service Robots in the Real World

Simulation Competitions on Domestic Robots

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