Article

Autonomous mobile manipulators managing perception and failures

Authors:

Massimo Romano,

Milko VaccaroAuthors Info & Claims

AGENTS '01: Proceedings of the fifth international conference on Autonomous agents

Pages 196 - 203

https://doi.org/10.1145/375735.376112

Published: 28 May 2001 Publication History

Abstract

We present a control system for autonomous mobile manipulators based on a theory of actions integrated with a theory of perception and failures. The system applies to autonomous manipulators built for simple missions like building towers of blocks, collecting balls of paper and putting them into a bin, or clearing obstacles from a path. For these application domains we have built three autonomous agents: ArmHand0, ArmHandONE and A.R.R.I.G.O. The core of the system is a high level program controlling the on-line agent behaviour: while a goal is not achieved, it selects a task from a library of possible subplans and executes it. The task, when correctly chosen, must lead to a subgoal position. At the end of each task execution, visual perception is used to monitor the coherence between the configuration of the domain and the configuration entailed as a consequence of the execution of the task. In case of a misalignment between the predicted state and the perceived one, a diagnostic procedure is activated.

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Cited By

De Giacomo GLespérance YLevesque HSardina S(2009)IndiGolog: A High-Level Programming Language for Embedded Reasoning AgentsMulti-Agent Programming10.1007/978-0-387-89299-3_2(31-72)Online publication date: 29-May-2009
https://doi.org/10.1007/978-0-387-89299-3_2
Levesque HLakemeyer G(2008)Chapter 23 Cognitive RoboticsHandbook of Knowledge Representation10.1016/S1574-6526(07)03023-4(869-886)Online publication date: 2008
https://doi.org/10.1016/S1574-6526(07)03023-4
Borzenko OLesperance YJenkin M(2007)INVICONProceedings of the Fourth Canadian Conference on Computer and Robot Vision10.1109/CRV.2007.41(387-394)Online publication date: 28-May-2007
https://dl.acm.org/doi/10.1109/CRV.2007.41
Show More Cited By

Index Terms

Autonomous mobile manipulators managing perception and failures
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic components
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Computational control theory
    2. Distributed artificial intelligence

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Published In

cover image ACM Conferences

AGENTS '01: Proceedings of the fifth international conference on Autonomous agents

May 2001

662 pages

ISBN:158113326X

DOI:10.1145/375735

Chairmen:
Elisabeth André
DFKI, Germany
,
Sandip Sen
Univ. of Tulsa,
,
Claude Frasson
Univ. of Montreal, Montreal, P.Q., Canada
,
Jörg P. Müller
Seimens, Germany

Copyright © 2001 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 28 May 2001

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AGENTS '01 Paper Acceptance Rate 66 of 248 submissions, 27%;

Overall Acceptance Rate 182 of 599 submissions, 30%

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Cited By

De Giacomo GLespérance YLevesque HSardina S(2009)IndiGolog: A High-Level Programming Language for Embedded Reasoning AgentsMulti-Agent Programming10.1007/978-0-387-89299-3_2(31-72)Online publication date: 29-May-2009
https://doi.org/10.1007/978-0-387-89299-3_2
Levesque HLakemeyer G(2008)Chapter 23 Cognitive RoboticsHandbook of Knowledge Representation10.1016/S1574-6526(07)03023-4(869-886)Online publication date: 2008
https://doi.org/10.1016/S1574-6526(07)03023-4
Borzenko OLesperance YJenkin M(2007)INVICONProceedings of the Fourth Canadian Conference on Computer and Robot Vision10.1109/CRV.2007.41(387-394)Online publication date: 28-May-2007
https://dl.acm.org/doi/10.1109/CRV.2007.41
Pirri FMentuccia IStorri S(2003)The domestic robot—a friendly cognitive system takes care of your homeAmbient intelligence10.5555/976174.976183(131-158)Online publication date: 1-Jan-2003
https://dl.acm.org/doi/10.5555/976174.976183
Chella AFrixione MGaglio S(2003)Anchoring symbols to conceptual spaces: the case of dynamic scenariosRobotics and Autonomous Systems10.1016/S0921-8890(02)00358-543:2-3(175-188)Online publication date: May-2003
https://doi.org/10.1016/S0921-8890(02)00358-5
Pirri FMentuccia IStorri S(2003)The Domestic Robot - A Friendly Cognitive System Takes Care of your HomeAmbient Intelligence: Impact on Embedded Sytem Design10.1007/0-306-48706-3_8(131-158)Online publication date: 2003
https://doi.org/10.1007/0-306-48706-3_8

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