TY - GEN
T1 - RSAW
T2 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
AU - Ben Ghezala, Mohamed Walid
AU - Bouzeghoub, Amel
AU - Leroux, Christophe
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/1/1
Y1 - 2014/1/1
N2 - Services and technologies are in evolution in order to develop a new generation of robotic systems that might operate in dynamic real-world environments. In this paper, we focus on the ability of robot to understand and to surpass the blocked situations autonomously without operator intervention. Such situations may occur when the robot cannot succeed the current action and cannot move to the next one. We remark that in the literature, the operator has a crucial role consisting in providing all information about the environment and in making interpretations. In this paper, we propose an RSAW (Robot Situation AWareness) system, developed in order to help a robot to surpass a blocked situation and accomplish its goal whilst minimizing the operator intervention. RSAW is a new general system aiming to increase the autonomy of the robot; It is inspired by the notion of Situation Awareness (SA). In fact, RSAW defines a knowledge representation using ontologies and a process in order to surpass a blocked situation. RSAW is designed according to the Model Driven Engineering (MDE) methodology. This choice is done to preserve the generality of our system. This paper focalizes on the process of the RSAW system and the interaction between the process and the knowledge representation. The experimentations conducted in real environment with the Smart Autonomous Majordomo (SAM) robot, have shown the robustness and the efficiency of the proposed system.
AB - Services and technologies are in evolution in order to develop a new generation of robotic systems that might operate in dynamic real-world environments. In this paper, we focus on the ability of robot to understand and to surpass the blocked situations autonomously without operator intervention. Such situations may occur when the robot cannot succeed the current action and cannot move to the next one. We remark that in the literature, the operator has a crucial role consisting in providing all information about the environment and in making interpretations. In this paper, we propose an RSAW (Robot Situation AWareness) system, developed in order to help a robot to surpass a blocked situation and accomplish its goal whilst minimizing the operator intervention. RSAW is a new general system aiming to increase the autonomy of the robot; It is inspired by the notion of Situation Awareness (SA). In fact, RSAW defines a knowledge representation using ontologies and a process in order to surpass a blocked situation. RSAW is designed according to the Model Driven Engineering (MDE) methodology. This choice is done to preserve the generality of our system. This paper focalizes on the process of the RSAW system and the interaction between the process and the knowledge representation. The experimentations conducted in real environment with the Smart Autonomous Majordomo (SAM) robot, have shown the robustness and the efficiency of the proposed system.
UR - https://www.scopus.com/pages/publications/84949925720
U2 - 10.1109/ICARCV.2014.7064347
DO - 10.1109/ICARCV.2014.7064347
M3 - Conference contribution
AN - SCOPUS:84949925720
T3 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
SP - 450
EP - 455
BT - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 10 December 2014 through 12 December 2014
ER -