Differences
This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision Next revisionBoth sides next revision | ||
lirec_notes [2009-01-06 15:08] – davegriffiths | lirec_notes [2009-01-06 15:47] – davegriffiths | ||
---|---|---|---|
Line 3: | Line 3: | ||
LIREC aims to establish a multi-faceted theory of artificial long-term companions (including memory, emotions, cognition, communication, | LIREC aims to establish a multi-faceted theory of artificial long-term companions (including memory, emotions, cognition, communication, | ||
- | ==Agent platforms, and migration between them== | + | ==Links== |
- | An interesting feature of agents which need to build up a long term relationship with their users will moving between different platforms. | + | |
+ | http:// | ||
+ | |||
+ | [[lirec work packages]] | ||
+ | |||
+ | ==Agent platforms== | ||
+ | |||
+ | The platforms currently under consideration for long term companions | ||
* Mobile robots | * Mobile robots | ||
* Fixed robots | * Fixed robots | ||
Line 10: | Line 17: | ||
* Fixed graphical systems | * Fixed graphical systems | ||
- | This migration between these devices, and how people relate to it, is a core element of the research. | + | ==Migration== |
+ | |||
+ | An interesting feature of the research is migration between these platforms. Agents which need to build up a long term relationship with their users will have to switch forms depending on the needs of the user at different times. The migration of an agent between | ||
===Scenarios=== | ===Scenarios=== | ||
- | The scenarios are to be considered preliminary ideas for showcasing | + | In order to test and showcase |
==Heriot Watt== | ==Heriot Watt== | ||
Spirit of the building: | Spirit of the building: | ||
- | - Team buddy, mobile robot, collective memory for a lab team | + | - Team buddy, |
- | - Personal guide - for navigating around a university campus, | + | - Personal guide - for navigating around a university campus, |
- | - In the wild - a gossip/chat robot - appears on a large screen in social area | + | - In the wild - a gossip/chat robot - appears on a large screen in a social area |
==INESC-ID== | ==INESC-ID== | ||
- Game companion for young children | - Game companion for young children | ||
- | - Personal trainer | + | - Personal trainer |
- | - Welcome to the jungle - talk to game characters through a robot, robot can alternate | + | - Welcome to the jungle - talk to game characters through a robot which can alternate between real and game world |
- | | + | |
- | ==University of Hertfordshire== | + | ==The University of Hertfordshire== |
- | - Fetch and carry, help with physical impairment or convenience | + | - Fetch and carry, |
- | - Cognitive prosthetic - memory aid for tasks etc | + | - Cognitive prosthetic - memory aid for tasks |
- | - Telepresence card player - robot mediates play | + | - Telepresence card player - a robot mediates play between two people |
- | - Teaching | + | - Teaching |
- | - Travelling companion - agent migration, to stay with user during home, work, shopping. | + | - Travelling companion - agent migration, to stay with user during home, work, shopping |
+ | |||
+ | ===Experimental testing=== | ||
+ | |||
+ | All scenarios are to be experimentally tested and showcased to the public. | ||
===Architecture=== | ===Architecture=== | ||
- | Has to: | + | The technology developed for Lirec is shared between the research partners, and has to: |
- Run on very different platforms | - Run on very different platforms | ||
- Reuse code across these platforms | - Reuse code across these platforms | ||
- Support migration at runtime between platforms | - Support migration at runtime between platforms | ||
- | |||
- | Platforms can consist of 4 main types, mobile robot, fixed robot, handheld device or fixed graphical system. Each has it's inherent restrictions. | ||
==Existing robot architectures== | ==Existing robot architectures== | ||
- | In the whole, there is a lack of sharing of this kind of technology. This is partly because generalising is hard in this field, considering all types of robots possible. However, Lirec has to generalise as it's using a wide variety of architectures. | + | In the whole, there has historically been a lack of sharing of this kind of technology. This is partly because generalising is hard, considering all types of robots |
- | NASREM/NIST RCS - NASA + ESA use a generic system with their subcontractors. | + | While some existing architectures are available, none of them address the needs of Lirec, given the focus is: |
+ | | ||
+ | - Working across different platforms | ||
==Methodology== | ==Methodology== | ||
In the past there have been 2 broad approaches to robot design: | In the past there have been 2 broad approaches to robot design: | ||
- | * Hierarchical, | + | * Hierarchical, |
- | * Behavioural approach = less state, local decisions, liable to local minima, opaque to program | + | * Behavioural approach = less state, local decisions, |
- | This can be summed up as predictive vs reactive. | + | This can be summed up as "predictive vs reactive". |
- | The plan is to use a hybrid approach, example BIRON. Where the predictive constrains the reactive to combine local decisions with a world model. | + | The plan is to use a hybrid approach, example |
The architecture will consist of 3 layers of abstraction: | The architecture will consist of 3 layers of abstraction: | ||
- | * Level 1 - device layer, | + | * Level 1 - The device layer, |
* Level 2 - platform dependant -> logical mappings | * Level 2 - platform dependant -> logical mappings | ||
* Level 3 - ION, platform independent | * Level 3 - ION, platform independent | ||
Line 70: | Line 82: | ||
* Obstacle avoidance | * Obstacle avoidance | ||
- | YARP | + | The computer vision competencies are to be concentrated on at first. |
+ | |||
+ | [[http:// |