In a multirobot system, using shared symbols for objects in the environment is a prerequisite for collaboration. Sharing symbols requires that each agent has anchored a symbol with an internal, sensor level representation, as well as that these symbols match between the agents. The problem can be solved easily when the internal representations can be communicated between the agents. However, with heterogeneous embodiments the available sensors are likely to differ, making it impossible to share the internal representations directly. We propose the use of pointing gestures to align symbols between a heterogeneous group of robots. We describe a planning framework that minimizes the required effort for anchoring representations across robots. The framework allows planning for both the gesturing and observing agents in a decentralized fashion. It considers both implicit sources of failure, such as ambiguous pointing, as well as costs required by actions. Simulation experiments demonstrate that the resulting planning problem has a complex solution structure with multiple local minima. Demonstration with a heterogeneous two-robot system shows the practical viability of this approach.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Robot-Robot Gesturing for Anchoring Representations


    Beteiligte:
    Kondaxakis, P (Autor:in) / Gulzar, K (Autor:in) / Kinauer, S (Autor:in) / Kokkinos, I (Autor:in) / Kyrki, V (Autor:in)

    Erscheinungsdatum :

    01.02.2019


    Anmerkungen:

    IEEE Transactions on Robotics , 35 (1) pp. 216-230. (2019)


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Gesturing test:a model of qualitative ergonomics

    Buscema,M. / Massini,G. / SEMEION,Rom,IT | Kraftfahrwesen | 1992


    GESTURING FOR CONTROL INPUT FOR A VEHICLE

    BENDA NELS E / ERVA AUSTIN K / ERKKILA ZACHARY R | Europäisches Patentamt | 2019

    Freier Zugriff

    Gesturing for control input for a vehicle

    BENDA NELS E / ERVA AUSTIN K / ERKKILA ZACHARY R | Europäisches Patentamt | 2021

    Freier Zugriff

    GESTURING FOR CONTROL INPUT FOR A VEHICLE

    BENDA NELS / ERVA AUSTIN / ERKKILA ZACHARY | Europäisches Patentamt | 2019

    Freier Zugriff

    Anchoring robot based on iris mechanism

    XU LINSEN / ZHANG ZHUANGZHUANG / LIU JINFU et al. | Europäisches Patentamt | 2024

    Freier Zugriff