Annual Report 2002 - Örebro universitet

42 AASS – Center for Applied Autonomous Sensor Systems
others. In this research line, we study hybrid maps, representation of the space that integrates
different levels of locality and abstraction. We focus on four levels: Perceptual - the space
accessible to the robot's perception Geometric: the geometry of the current workspace;
Topological - the topological structure of the global environment; Semantical - the semantic
structures in the space.
Main results in 2002:
- Paper published in the Robotics and Autonomous Systems journal.
- Paper presented at the Int Conference on Intelligent Robotic Systems (IROS) in Lausanne,
CH, Oct 2002.
- Paper presented at the Swedish Workshop on Autonomous Robotics (SWAR) in
Stockholm, Sweden, Oct 2002.
- Paper presented at the Int ICSC-NAISO Congress on Neuro-Fuzzy Technologies in La
Havana, Cuba, Jan 2002.
- Paper presented at the Int Conf on Information Processing and the Management of
Uncertainty (IPMU) in Annecy, France, July 2002.
Future developments:
- Pär Buschka will defend his licentiate thesis on this subject in the first half of 2003.
Project: Real-time deliberation
Project leader: Ola Pettersson
Project staff: Lars Karlsson and Alessandro Saffiotti
Funding: KK Foundation and Faculty funding.
Cooperation: Blekinge Institute of Technology, Sweden.
Synopsis:
Intelligent mobile robots need the ability to integrate robust navigation facilities with higher
level reasoning. This research line aims at combining results and techniques from the areas of
robot navigation and of intelligent agency. In particular, we investigate techniques that allow
the robot to decide when to go on with execution, and when to stop and ponder about a new
situation. We focus especially on the use of model-free diagnostic tools to detect execution
failures and thus trigger a re-deliberation process.
Main results in 2002:
- Paper presented at the Int RoboCup Symposium in Fukuoka, Japan, June 2002.
- Paper presented at the Swedish Workshop on Autonomous Robotics (SWAR) in
Stockholm, Sweden, Oct 2002.
- Paper submitted to the Int Conf on Advanced Robotics (ICAR 2003).
Future developments:
- Ola Pettersson is planned to present a PhD thesis on this subject by the first half of 2003.