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Design and development of a software architecture for autonomous mobile manipulators in industrial environments

Rovida, Francesco and Krueger, Volker LU (2015) 2015 IEEE International Conference on Industrial Technology (ICIT) p.3288-3295
Abstract
During the last decades, methods for intuitive task level robot programming have become a fundamental point of interest for industrial applications. A robot programming framework is needed to facilitate task-level programming of mobile manipulators, e.g. by providing the robot with a set of movement primitives and skills. Robot skills have already been used and tested successfully within the FP7 project TAPAS for this purpose, and are presently used in several new FP7 projects (e.g. CARLOS, STAMINA, ACAT). To meet the goal of programming mobile manipulators on-the-fly inside industries we need to bring together the actual skills and primitives with other aspects such as task planning, an extended knowledge integration framework and a... (More)
During the last decades, methods for intuitive task level robot programming have become a fundamental point of interest for industrial applications. A robot programming framework is needed to facilitate task-level programming of mobile manipulators, e.g. by providing the robot with a set of movement primitives and skills. Robot skills have already been used and tested successfully within the FP7 project TAPAS for this purpose, and are presently used in several new FP7 projects (e.g. CARLOS, STAMINA, ACAT). To meet the goal of programming mobile manipulators on-the-fly inside industries we need to bring together the actual skills and primitives with other aspects such as task planning, an extended knowledge integration framework and a control infrastructure for the skill execution. In this paper we want to discuss an architecture that organizes clearly the software processes on the different abstraction levels and propose a world model that ground abstract reasoning to concrete skills. Our aim is to develop a software framework to get towards the implementation of flexible and highly modular cognitive robot tasks. (Less)
Please use this url to cite or link to this publication:
author
and
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Autonomous mobile manipulator, Industrial environment, Knowledge integration framework, Skill-based system, World model
host publication
IEEE International Conference on Industrial Technology (ICIT), 2015
pages
3288 - 3295
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2015 IEEE International Conference on Industrial Technology (ICIT)
conference location
Seville, Spain
conference dates
2015-03-17 - 2015-03-19
external identifiers
  • scopus:84937710896
ISBN
978-1-4799-7800-7
DOI
10.1109/ICIT.2015.7125585
language
English
LU publication?
no
id
87c077c0-c36a-4b60-b7bb-6e024685e400
date added to LUP
2019-05-16 21:16:35
date last changed
2020-12-08 03:58:25
@inproceedings{87c077c0-c36a-4b60-b7bb-6e024685e400,
  abstract     = {During the last decades, methods for intuitive task level robot programming have become a fundamental point of interest for industrial applications. A robot programming framework is needed to facilitate task-level programming of mobile manipulators, e.g. by providing the robot with a set of movement primitives and skills. Robot skills have already been used and tested successfully within the FP7 project TAPAS for this purpose, and are presently used in several new FP7 projects (e.g. CARLOS, STAMINA, ACAT). To meet the goal of programming mobile manipulators on-the-fly inside industries we need to bring together the actual skills and primitives with other aspects such as task planning, an extended knowledge integration framework and a control infrastructure for the skill execution. In this paper we want to discuss an architecture that organizes clearly the software processes on the different abstraction levels and propose a world model that ground abstract reasoning to concrete skills. Our aim is to develop a software framework to get towards the implementation of flexible and highly modular cognitive robot tasks.},
  author       = {Rovida, Francesco and Krueger, Volker},
  booktitle    = {IEEE International Conference on Industrial Technology (ICIT), 2015},
  isbn         = {978-1-4799-7800-7},
  language     = {eng},
  pages        = {3288--3295},
  publisher    = {IEEE - Institute of Electrical and Electronics Engineers Inc.},
  title        = {Design and development of a software architecture for autonomous mobile manipulators in industrial environments},
  url          = {http://dx.doi.org/10.1109/ICIT.2015.7125585},
  doi          = {10.1109/ICIT.2015.7125585},
  year         = {2015},
}