Robot Behaviour
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Robot Behaviour
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Author : Ulrich Nehmzow
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-12-18
Robot Behaviour written by Ulrich Nehmzow and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-12-18 with Computers categories.
Robots have evolved impressively since the 3-D manipulator built by C.W. K- ward (1957), the two little electromechanical turtles Elmer and Elsie [Walter, 1950, Walter, 1951], and the ?rst mobile robots controlled by comp- ers, Shakey [Nilsson, 1984], CART [Moravec, 1979, Moravec, 1983], and - lare [Giralt et al., 1979]. Since then, we have seen industrial robot manipu- tors working in car factories, automatic guided vehicles moving heavy loads along pre-de?ned routes, human-remotely-operated robots neutralising bombs, and even semi-autonomous robots, like Sojourner, going to Mars and moving from one position to another commanded from Earth. Robots will go further and further in our society. However, there is still a kind of robot that has not completely taken off so far: autonomous robots. Autonomy depends upon working without human supervision for a considerable amount of time, taking independent decisions, adapting to new challenges in dynamic environments, interacting with other systems and humans, and so on. Research on autonomy is highly motivated by the expectations of having robots that can work with us and for us in everyday environments, assisting us at home or work, acting as servants and companions to help us in the execution of different tasks, so that we can have more spare time and a better quality of life.
Scientific Methods In Mobile Robotics
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Author : Ulrich Nehmzow
language : en
Publisher: Springer Science & Business Media
Release Date : 2006-04-10
Scientific Methods In Mobile Robotics written by Ulrich Nehmzow and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006-04-10 with Computers categories.
Aims at a theoretical understanding of the operation of autonomous mobile robots. This book presents the research on the application of chaos theory, parametric and non-parametric statistics and dynamical systems theory in this field. Practical examples and case studies show how robot behaviour can be logged, analysed, interpreted and modelled.
Behavior Trees In Robotics And Ai
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Author : Michele Colledanchise
language : en
Publisher: CRC Press
Release Date : 2018-07-20
Behavior Trees In Robotics And Ai written by Michele Colledanchise and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-07-20 with Computers categories.
Behavior Trees (BTs) provide a way to structure the behavior of an artificial agent such as a robot or a non-player character in a computer game. Traditional design methods, such as finite state machines, are known to produce brittle behaviors when complexity increases, making it very hard to add features without breaking existing functionality. BTs were created to address this very problem, and enables the creation of systems that are both modular and reactive. Behavior Trees in Robotics and AI: An Introduction provides a broad introduction as well as an in-depth exploration of the topic, and is the first comprehensive book on the use of BTs. This book introduces the subject of BTs from simple topics, such as semantics and design principles, to complex topics, such as learning and task planning. For each topic, the authors provide a set of examples, ranging from simple illustrations to realistic complex behaviors, to enable the reader to successfully combine theory with practice. Starting with an introduction to BTs, the book then describes how BTs relate to, and in many cases, generalize earlier switching structures, or control architectures. These ideas are then used as a foundation for a set of efficient and easy to use design principles. The book then presents a set of important extensions and provides a set of tools for formally analyzing these extensions using a state space formulation of BTs. With the new analysis tools, the book then formalizes the descriptions of how BTs generalize earlier approaches and shows how BTs can be automatically generated using planning and learning. The final part of the book provides an extended set of tools to capture the behavior of Stochastic BTs, where the outcomes of actions are described by probabilities. These tools enable the computation of both success probabilities and time to completion. This book targets a broad audience, including both students and professionals interested in modeling complex behaviors for robots, game characters, or other AI agents. Readers can choose at which depth and pace they want to learn the subject, depending on their needs and background.
Modelling And Controlling Of Behaviour For Autonomous Mobile Robots
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Author : Hendrik Skubch
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-11-27
Modelling And Controlling Of Behaviour For Autonomous Mobile Robots written by Hendrik Skubch and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-11-27 with Computers categories.
As research progresses, it enables multi-robot systems to be used in more and more complex and dynamic scenarios. Hence, the question arises how different modelling and reasoning paradigms can be utilised to describe the intended behaviour of a team and execute it in a robust and adaptive manner. Hendrik Skubch presents a solution, ALICA (A Language for Interactive Cooperative Agents) which combines modelling techniques drawn from different paradigms in an integrative fashion. Hierarchies of finite state machines are used to structure the behaviour of the team such that temporal and causal relationships can be expressed. Utility functions weigh different options against each other and assign agents to different tasks. Finally, non-linear constraint satisfaction and optimisation problems are integrated, allowing for complex cooperative behaviour to be specified in a concise, theoretically well-founded manner.
Towards An Interactive Human Robot Relationship
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Author : Amir Aly
language : en
Publisher:
Release Date : 2014
Towards An Interactive Human Robot Relationship written by Amir Aly and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014 with categories.
Robots become more and more omnipresent in our life and society, and many challenges arise when we try to use them in a social context. This thesis focuses on how to generate an adapted robot's behavior to human's profile so as to enhance the human-robot relationship. This research addresses a wide range of complex problems varying from analyzing and understanding human's emotion and personality to synthesizing a complete synchronized multimodal behavior that combines gestures, speech, and facial expressions. Our methodologies have been examined experimentally with NAO robot from Aldebaran Robotics and ALICE robot from Hanson Robotics. The first part of this thesis focuses on emotion analysis and discusses its evolutionary nature. The fuzzy nature of emotions imposes a big obstacle in front of defining precise membership criteria for each emotion class. Therefore, fuzzy logic looks appropriate for modeling these complex data sets, as it imitates human logic by using a descriptive and imprecise language in order to cope with fuzzy data. The variation of emotion expressivity through cultures and the difficulty of including many emotion categories inside one database, makes the need for an online recognition system of emotion as a critical issue. A new online fuzzy-based emotion recognition system through prosodic cues was developed in order to detect whether the expressed emotion confirms one of the previously learned emotion clusters, or it constitutes a new cluster (not learned before) that requires a new verbal and/or nonverbal action to be synthesized. On the other hand, the second part of this thesis focuses on personality traits, which play a major role in human social interaction. Different researches studied the long term effect of the extraversion-introversion personality trait on human's generated multimodal behavior. This trait can, therefore, be used to characterize the combined verbal and nonverbal behavior of a human interacting with a robot so as to allow the robot to adapt its generated multimodal behavior to the interacting human's personality. This behavior adaptation could follow either the similarity attraction principle (i.e., individuals are more attracted by others who have similar personality traits) or the complementarity attraction principle (i.e., individuals are more attracted by others whose personalities are complementary to their own personalities) according to the context of interaction. In this thesis, we examine the effects of the multimodality and unimodality of the generated behavior on interaction, in addition to the similarity attraction principle as it considers the effect of the initial interaction between human and robot on the developing relationship (e.g., friendship), which makes it more appropriate for our interaction context. The detection of human's personality trait as being introverted or extraverted is based on a psycholinguistic analysis of human's speech, upon which the characteristics of the generated robot's speech and gestures are defined. Last but not least, the third part of this thesis focuses on gesture synthesis. The generation of appropriate head-arm metaphoric gestures does not follow a specific linguistic analysis. It is mainly based on the prosodic cues of human's speech, which correlate firmly with emotion and the dynamic characteristics of metaphoric gestures. The proposed system uses the Coupled Hidden Markov Models (CHMM) that contain two chains for modeling the characteristic curves of the segmented speech and gestures. When a speech-test signal is present to the trained CHMM, a corresponding set of adapted metaphoric gestures will be synthesized. An experimental study (in which the robot adapts the emotional content of its generated multimodal behavior to the context of interaction) is set for examining the emotional content of the generated robot's metaphoric gestures by human's feedback di- rectly. Besides, we examine the effects of both the generated facial expressions using the expressive face of ALICE robot, and the synthesized emotional speech using the text to speech toolkit (Mary-TTS) on enhancing the expressivity of the robot, in addition to comparing between the effects of the multimodal interaction and the interaction that employs less affective cues on human. Generally, the research on understanding human's profile and generating an adapted robot's behavior opens the door to other topics that need to be addressed in an elaborate way. These topics include, but not limited to: developing a computational cognitive architecture that can simulate the functionalities of the human brain areas that allow understanding and generating speech and physical actions appropriately to the context of interaction, which constitutes a future research scope for this thesis.
Imitation And Social Learning In Robots Humans And Animals
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Author : Chrystopher L. Nehaniv
language : en
Publisher: Cambridge University Press
Release Date : 2007-03-29
Imitation And Social Learning In Robots Humans And Animals written by Chrystopher L. Nehaniv and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-03-29 with Psychology categories.
Mechanisms of imitation and social matching play a fundamental role in development, communication, interaction, learning and culture. Their investigation in different agents (animals, humans and robots) has significantly influenced our understanding of the nature and origins of social intelligence. Whilst such issues have traditionally been studied in areas such as psychology, biology and ethnology, it has become increasingly recognised that a 'constructive approach' towards imitation and social learning via the synthesis of artificial agents can provide important insights into mechanisms and create artefacts that can be instructed and taught by imitation, demonstration, and social interaction rather than by explicit programming. This book studies increasingly sophisticated models and mechanisms of social matching behaviour and marks an important step towards the development of an interdisciplinary research field, consolidating and providing a valuable reference for the increasing number of researchers in the field of imitation and social learning in robots, humans and animals.
Scientific Methods In Mobile Robotics
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Author : Ulrich Nehmzow
language : en
Publisher: Springer
Release Date : 2005-11-18
Scientific Methods In Mobile Robotics written by Ulrich Nehmzow and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-11-18 with Technology & Engineering categories.
Mobile robotics has until now focused on issues like design of controllers and robot hardware. It is now ready to embrace theoretical methods from dynamical systems theory, statistics and system identification to produce a formalized approach based on quantitative analyses and computer models of the interaction between robot, task and environment. This book is a step towards a theoretical understanding of the operation of autonomous mobile robots. It presents cutting-edge research on the application of chaos theory, parametric and non-parametric statistics and dynamical systems theory in this field. Practical examples and case studies show how robot behaviour can be logged, analysed, interpreted and modelled, aiding design of controllers, analysis of agent behaviour and verification of results. As the first book to apply advanced scientific methods to mobile robots it will interest researchers, lecturers and post-graduate students in robotics, artificial intelligence and cognitive science.
Mobile Robotics
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Author : Ulrich Nehmzow
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Mobile Robotics written by Ulrich Nehmzow and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
Mobile Robotics: A Practical Introduction (2nd edition) is an excellent introduction to the foundations and methods used for designing completely autonomous mobile robots. A fascinating, cutting-edge, research topic, autonomous mobile robotics is now taught in more and more universities. In this book you are introduced to the fundamental concepts of this complex field via twelve detailed case studies that show how to build and program real working robots. Topics covered in clued learning, autonomous navigation in unmodified, noisy and unpredictable environments, and high fidelity robot simulation. This new edition has been updated to include a new chapter on novelty detection, and provides a very practical introduction to mobile robotics for a general scientific audience. It is essential reading for 2nd and 3rd year undergraduate students and postgraduate students studying robotics, artificial intelligence, cognitive science and robot engineering. The update and overview of core concepts in mobile robotics will assist and encourage practitioners of the field and set challenges to explore new avenues of research in this exiting field. The author is Senior Lecturer at the Department of Computer Science at the University of Essex. "A very fine overview over the relevant problems to be solved in the attempt to bring intelligence to a moving vehicle." Professor Dr. Ewald von Puttkamer, University of Kaiserslautern "Case studies show ways of achieving an impressive repertoire of kinds of learned behaviour, navigation and map-building. The book is an admirable introduction to this modern approach to mobile robotics and certainly gives a great deal of food for thought. This is an important and though-provoking book." Alex M. Andrew in Kybernetes Vol 29 No 4 and Robotica Vol 18
Evolutionary Swarm Robotics
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Author : Vito Trianni
language : en
Publisher: Springer
Release Date : 2008-05-24
Evolutionary Swarm Robotics written by Vito Trianni and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-05-24 with Technology & Engineering categories.
In this book the use of ER techniques for the design of self-organising group behaviours, for both simulated and real robots is introduced. The book tries to mediate between two apparently opposed perspectives: engineering and cognitive science. The experiments presented in the book and the results obtained contribute to the assessment of ER not only as a design tool, but also as a methodology for modelling and understanding intelligent adaptive behaviours.
Designing Sociable Robots
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Author : Cynthia Breazeal
language : en
Publisher: MIT Press
Release Date : 2004-08-20
Designing Sociable Robots written by Cynthia Breazeal and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-08-20 with Technology & Engineering categories.
Cynthia Breazeal here presents her vision of the sociable robot of the future, a synthetic creature and not merely a sophisticated tool. A sociable robot will be able to understand us, to communicate and interact with us, to learn from us and grow with us. It will be socially intelligent in a humanlike way. Eventually sociable robots will assist us in our daily lives, as collaborators and companions. Because the most successful sociable robots will share our social characteristics, the effort to make sociable robots is also a means for exploring human social intelligence and even what it means to be human. Breazeal defines the key components of social intelligence for these machines and offers a framework and set of design issues for their realization. Much of the book focuses on a nascent sociable robot she designed named Kismet. Breazeal offers a concrete implementation for Kismet, incorporating insights from the scientific study of animals and people, as well as from artistic disciplines such as classical animation. This blending of science, engineering, and art creates a lifelike quality that encourages people to treat Kismet as a social creature rather than just a machine. The book includes a CD-ROM that shows Kismet in action.