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Situation assessment through multi-modal sensing of dynamic environments to support cognitive robot control

Badii, A., Khan, A., Raval, R., Oudi, H., Ayora, R., Khan, W., Jaidi, A. and Viswanathan, N. (2014) Situation assessment through multi-modal sensing of dynamic environments to support cognitive robot control. Factas Universitatis: Mechanical Engineering, 12 (3). pp. 251-260. ISSN 2335-0164

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Official URL: http://casopisi.junis.ni.ac.rs/index.php/FUMechEng...

Abstract/Summary

Awareness of emerging situations in a dynamic operational environment of a robotic assistive device is an essential capability of such a cognitive system, based on its effective and efficient assessment of the prevailing situation. This allows the system to interact with the environment in a sensible (semi)autonomous / pro-active manner without the need for frequent interventions from a supervisor. In this paper, we report a novel generic Situation Assessment Architecture for robotic systems directly assisting humans as developed in the CORBYS project. This paper presents the overall architecture for situation assessment and its application in proof-of-concept Demonstrators as developed and validated within the CORBYS project. These include a robotic human follower and a mobile gait rehabilitation robotic system. We present an overview of the structure and functionality of the Situation Assessment Architecture for robotic systems with results and observations as collected from initial validation on the two CORBYS Demonstrators.

Item Type:Article
Refereed:Yes
Divisions:Faculty of Science > School of Mathematical, Physical and Computational Sciences > Department of Computer Science
ID Code:39838
Uncontrolled Keywords:Situation Assessment, Cognitive Control, Dynamic Environments, HumanRobot Interaction, Human-Robot Co-Working and Mixed-Initiative Taking Interaction, Human-Robot Co-Working and Mixed-Initiative Taking
Publisher:University of Nis

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