Annual Report 2002 - Ãrebro universitet

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Annual Report 2002 45 Future developments: - Team Sweden will participate in RoboCup 2003 (Italy) again under the guidance of AASS. - A new PhD student (Robert Johansson) has been enrolled and will work on this project. Project: Fuzzy Behavior-Based Control of a Mobile Manipulator Project leader: Zbigniew Wasik Project staff: Alessandro Saffiotti Funding: KK Foundation and Faculty funding. Cooperation: Not yet. Synopsis: In this research line, we investigate new solutions to the mobile manipulation problem. The investigation proceeds along two lines: (i) to develop a behavior-based approach to real-time visual servoing of a mobile manipulator; and (ii) to extend the "Thinking Cap" architecture to cope with the simultaneous control of the manipulator and of the mobile platform on which the arm is mounted. The project will be carried out on a custom-built robot arm installed on a Nomad 200 platform. The target tasks will include the ability to open doors, and to grasp and move objects in the environment. Main results in 2002: - Paper presented at Int Conf on Intelligent Robotic Systems (IROS) in Lausanne, Switzerland, October 2002. Future developments: - Zbigniew Wazik will complete his PhD thesis on behavior-based manipulation by the first half of 2004.
46 AASS – Center for Applied Autonomous Sensor Systems 2.2.3 Staff Alessandro Saffiotti, PhD, is a professor of Computer Science at the Center for Applied Autonomous Sensors Systems of Örebro University, Sweden, where he heads the Mobile Robotics Lab. He has previously been a researcher with the University of Pisa (Italy), SRI International (USA), and the Universite Libre de Bruxelles (Belgium). His research interests encompass autonomous robotics, soft computing, and non-standard logics for common-sense reasoning. He has published more than 70 research papers in international journals and conferences and co-edited the book ``Fuzzy logic techniques for autonomous vehicle navigation'' (Springer, 2001). He was a chair of the 1999, 2001 and 2003 IJCAI workshops on ``Reasoning with Uncertainty in Robotics'', of the AAAI 2001 fall symposium on ``Anchoring Symbols to Sensor Data'', and of the 2002 IROS workshop on ``Cooperative Robotics''. In 2002 he co-organized the First European Summer School on cooperative robotics. He is the leader of Team Sweden, a national effort in robot soccer comprising about 15 people from four universities. He is a member of IEEE, AAAI, and IAS. Silvia Coradeschi is an assistant professor at the Center for Applied Autonomous Sensor Systems at Örebro University. She has received a master degree in Philosophy at the university of Florence, a master degree in Computer Science at the university of Pisa, and a PhD in Computer science at Linköping University. She is a member of the board of trustees of the RoboCup Federation and was general chair of the Third Robot World Cup Soccer Games and Conferences (RoboCup-99). She is also a member of the Advisory Board for the Seventeenth International Joint Conference on Artificial Intelligence (IJCAI-01) and member of the board of the European Coordinating Committee for Artificial Intelligence. She is director of the undergraduate studies for the Computer Engineering Division at Örebro University and she is vice-head of the Technology Department. She has published 18 conference/journal papers and her main research interest is in establishing the connection (anchoring) between the symbols used to perform abstract reasoning and the physical entities, which these symbols refer to. She also works in multi-agent systems and cooperative robotics. Lars Karlsson is an assistant professor at the Center for Applied Autonomous Sensor Systems at Örebro University. He received a MSc. degree in Computer Science at Linköping University in 1993, and a PhD in 1999. He was a co-chair of the Third Robot World Cup Soccer Games and Conferences (RoboCup-99). He is the coordinator for the MSc program in Computer Engineering at Örebro University, and he is the director for graduate education in AASS. He has 18 conference/journal publications and his research interests include planning under uncertainty, reasoning about actions and integration between reasoning and action/perception in autonomous systems. Pär Buschka was born in Gothenburg, Sweden on April 22, 1966. He received the MSc degree in computer science and engineering in 1996 from Chalmers University of Technology in Gothenburg, Sweden. Since autumn 1999 he has been a graduate student at the Center for Applied Autonomous Sensor Systems, Örebro University, Örebro, Sweden. His current research interests include mobile robot localization and navigation using hybrid maps. Ola Pettersson was born in Falkenberg, Sweden on March 7, 1972. He received the BSc degree in electrical engineering in 1994, and the MSc degree in electrical engineering in 1995 (specialization in photonics and image analysis), both from Halmstad University,
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