A flexible infrastructure for the development of a robot companion with extensible HRI-capabilities

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 3408-3414

  Fritsch, J ^a   Kleinehagenbrock, M ^a   Haasch, A ^a   Wrede, S ^a   Sagerer, G ^a  

^a BIELEFELD UNIVERSITY   (Germany)

Author keywords

Distributed system; Human robot interaction; Robot architecture; System integration; XML

Indexed keywords

COMPUTER SOFTWARE; CONTROL THEORY; DATA PROCESSING; MAN MACHINE SYSTEMS; PRODUCT DEVELOPMENT; XML;

DISTRIBUTED SYSTEMS; HUMAN-ROBOT INTERACTION; ROBOT ARCHITECTURE; SYSTEM INTEGRATION;

ROBOTICS;

EID: 33846171989     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570637     Document Type: Conference Paper

References (39)

1. S. Thron, et al., Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva, International Journal of Robotics Research, vol. 19, no. 11, pp. 972-999, 2000.
2. N. Tomatis, et al., "Building a Fully Autonomous Tour Guide Robot: Where Academic Research Meets Industry," in Proc. Int. Symp. on Robotics, Stockholm, Sweden, 2002.
3. H. Asoh, et al., Jijo-2: An Office Robot that Communicates and Learns, IEEE Intelligent Systems, vol. 16, no. 5, pp. 46-55, 2001.
4. R. Bischoff and V. Graefe, "Demonstrating the Humanoid Robot HERMES at an Exhibition: A Long-Term Dependability Test," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems; Workshop on Robots at Exhibitions, Lausanne, Switzerland, 2002.
5. B. Graf, M. Hans, and R. D. Schraft, Care-O-bot II - Development of a Next Generation Robotic Home Assistant, Autonomous Robots, vol. 16, no. 2, pp. 193-205, 2004.
6. B. J. A. Kröse, et al., "Lino, the User-Interface Robot," in European Symposium on Ambient Intelligence (EUSAI), Veldhoven, Netherlands, 2003, pp. 264-274.
7. "The Cognitive Robot Companion," 2004, http://www.cogniron.org.
8. J. K. Rosenblatt, "DAMN: A Distributed Architecture for Mobile Navigation," in Proc. AAAI Spring Symp. on Lessons Learned from. Implemented Software Architectures for Physical Agents. Stanford, CA: AAAI/MIT Press, 1995, pp. 167-178.
9. È. Coste-Manière and R. G. Simmons, "Architecture, the Backbone of Robotic Systems," in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 1, San Franciso, CA, 2000, pp. 67-72.
10. M. Kleinehagenbrock, J. Fritsch, and G. Sagerer, "Supporting Advanced Interaction Capabilities on a Mobile Robot with a Flexible Control System," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol. 3, Sendai, Japan, 2004, pp. 3649-3655.
11. J. Fritsch, et al., Multi-Modal Anchoring for Human-Robot-Interaction, Robotics and Autonomous Systems; Special issue on Anchoring Symbols to Sensor Data in Single and Multiple Robot Systems, vol. 43, no. 2-3, pp. 133-147, 2003.
12. G. A. Fink, N. Jungclaus, F. Kummert, H. Ritter, and G. Sagerer, "A Distributed System for Integrated Speech and Image Understanding," in Int. Symp. on Artificial Intelligence, Cancun, Mexico, 1996, pp. 117-126.
13. S. Wrede, J. Fritsch, C. Bauckhage, and G. Sagerer, "An XML Based Framework for Cognitive Vision Architectures," in Proc. Int. Conf. on Pattern Recognition, vol. 1, Cambridge, UK, 2004, pp. 757-760.
14. R. Bischoff, "Recent Advances in the Development of the Humanoid Service Robot HERMES," in Proc. European Workshop and Masterclass on Advanced Robotics Systems Development (EUREL), vol. 1, Manchester, UK, 2000, pp. 125-134.
15. K. Kim, Y. Matsusaka, and T. Kobayashi, "Inter-Module Cooperation Architecture for Interactive Robot," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol. 3, Lausanne, Switzerland, 2002, pp. 2286-2291.
16. B. Hayes-Roth, A Blackboard Architecture for Control, Artificial Intelligence, vol. 26, no. 3, pp. 251-321, 1985.
17. M. Lindsttöm, A. Orebäck, and H. I. Christensen, "BERRA: A Research Architecture for Service Robots," in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 4, San Francisco, CA, 2000, pp. 3278-3283.
18. F. F. Ingrand and F. Py, "An Execution Control System for Autonomous Robots," in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 2, Washington DC, USA, 2002, pp. 1333-1338.
19. G. Kim, W. Chung, M. Kim, and C. Lee, "Tripodal Schematic Design of the Control Architecture for the Service Robot PSR," in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 2, Taipei, Taiwan, 2003, pp. 2792-2797.
20. G. Kim, W. Chung, M. Kim, and C. Lee, "Implementation of Multi-Functional Service Robots Using Tripodal Schematic Control Architecture," in Proc. IEEE Int. Conf. on Robotics and Automation, vol. 4, New Orleans, LA, 2004, pp. 4005-4010.
21. B. P. Gerkey, R. T. Vaughan, and A. Howard, "The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems," in Proc. Int. Conf. on Advanced Robotics, Coimbra, Portugal, 2003, pp. 317-323.
22. "Sony's OPEN-R SDK," http://openr.aibo.com.
23. M. J. Matarić, Learning in Behavior-Based Multi-Robot Systems: Policies, Models, and Other Agents, Cognitive Systems Research; Special issue on Multi-disciplinary studies of multi-agent learning, vol. 2, no. 1, pp. 81-93, 2001.
24. S. Knoop, S. Vacek, R. Zöllner, C. Au, and R. Dillmann, "A CORBA-Based Distributed Software Architecture for Control of Service Robots," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol. 3, Sendai, Japan, 2004, pp. 3656-3661.
25. P. Kiatisevi, V. Ampornaratnveth, and H. Ueno, "A Distributed Architecture for Knowledge-Based Interactive Robots," in Proc. Int. Conf. on Information Technology for Application (ICITA), Harbin, China, 2004, pp. 256-261.
26. D. C. Schmidt and S. Vinoski, "Object Interconnections: CORBA and XML, Part 1: Versioning," 2003, http://www.cs.wustl.edu/~schmidt/report- doc.html.
27. "XCF at Sourceforge.Net," 2004, http://xcf.sourceforge.net.
28. "The Internet Communications Engine, ZeroC Inc." 2003, http://www.zeroc.com/ice.html.
29. D. C. Schmidt, M. Stal, H. Rohnert, and F. Buschmann, Pattern-Oriented Software Architecture. John Wiley & Sons Ltd., 2000, vol. 2: Patterns for Concurrent and Networked Objects.
30. A. S. Tanenbaum and M. van Steen, Distributed Systems: Principles and Paradigms, 1st ed. Prentice Hall, 2002.
31. S. Wrede, M. Hanheide, C. Bauckhage, and G. Sagerer, "An Active Memory as a Model for Information Fusion," in Proc. Int. Conf. on Information Fusion, vol. 1, Stockholm, Sweden, 2004, pp. 198-205.
32. "Berkely DB XML, Sleepycat Software," 2004, http://www.sleepycat.com/products/xml.shtml.
33. E. Gat, "On Three-Layer Architectures," in Artificial Intelligence and Mobile Robots: Case Studies of Successful Robot Systems. Cambridge, MA: MIT Press, 1998, ch. 8, pp. 195-210.
34. E. Gat, "Integrating Planning and Reacting in a Heterogenous Asynchronous Architecture for Controlling Real-World Mobile Robots," in Proc. Nat. Conf. on Artificial Intelligence (AAAI). San Jose, CA: AAAI/MIT Press, 1992, pp. 809-815.
35. A. Haasch, et al., "BIRON - The Bielefeld Robot Companion," in Proc. Int. Workshop on Advances in Service Robotics. Stuttgart, Germany: Fraunhofer IRB Verlag, 2004, pp. 27-32.
36. S. Lang, et al., "Providing the Basis for Human-Robot-Interaction: A Multi-Modal Attention System for a Mobile Robot," in Proc. Int. Conf. on Multimodal Interfaces. Vancouver, Canada: ACM, 2003, pp. 28-35.
37. N. Hofemann, J. Fritsch, and G. Sagerer, "Recognition of Deictic Gestures with Context," in Pattern Recognition; 26th DAGM Symposium., Tubingen, Germany, Aug./Sep. 2004. Proceedings. Heidelberg, Germany: Springer-Verlag, 2004, vol. 3175, pp. 334-341.
38. R. J. Firby, "Adaptive Execution in Dynamic Domains," Ph.D. dissertation, Yale University, New Haven, CT, 1989.
39. "Information Society Technologies Event (IST Event)," Nov. 2004, http://europa.eu.int/information_society/istevent/2004/index_en.htm.