By Topic

Semi-autonomous initial monitoring for context-aware task planning

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Torsten Heyer ; Inst. of Autom. (IAT), Univ. of Bremen, Bremen, Germany ; Axel Gräser

In this paper the semi-autonomous initial monitoring concept for the care-providing robotic system FRIEND is presented. The objective of this concept is context-aware task planning, i.e. the planning procedure is adapted to the actual situation which is the initial situation for the next task, so that the system is able to operate in an intelligent manner also in unknown environments. Therefore the states and the relationships of the task related objects are symbolically described using Boolean values, called facts. All these values have to be determined to identify the initial situation. The user can be included in the determination process to guarantee a successful task planning even if the system fails and an autonomous execution would therefore not possible. A proper heuristic is presented to find the optimal order for the facts determination which minimizes the amount of user interactions. Feedback from the past is used as well as an inference machine which is able to conclude unspecified facts without any further calculation from already known ones. The performance of the initial monitoring concept is evaluated through experimental results, which show that the costs and the user involvement is reduced significantly.

Published in:

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Date of Conference:

3-7 July 2011