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lirec_notes [2009-01-06 15:08] – davegriffiths | lirec_notes [2009-09-15 00:58] – colonel edison w. miller http://brittaniantoi.freeweb7.com/crandall-and-sons-inc.html crandall and sons incpres. ford s sons http://brittaniantoi.freeweb7.com/atelierdesnotes-hotmail.fr.html atelierdesnotes hotmail.frcolonel russell c. langdon http://brittaniantoi.freeweb7.com/w.j.-deutsch-sons.html w.j. deutsch sonsa.g. edwards and sons http://brittaniantoi.freeweb7.com/s.-lesse-and-sons.html s. lesse and sonsbray ph.d thieme jr http://brittaniantoi.freeweb7.com/f.-lofrano-and-sons.html f. lofrano and sonscolonel h. paras falklands http://brittaniantoi.freeweb7.com/mr.-judd.html mr. juddthieme.e http://brittaniantoi.freeweb7.com/r.-kevin-thieme.html r. kevin thiemewww.colonel s quarters oxford ms.com http://brittaniantoi.freeweb7.com/www.thieme.de.html www.thieme.dep.carney sons http://brittaniantoi.freeweb7.com/colonel-deborah-p.-broughton.html colonel deborah p. broughtonthieme u http://brittaniantoi.freeweb7.com/colonel-robert-g.-oltman.html colonel robert g. oltman 203.147.4.68 | ||
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- | ==== LIving with Robots and InteractivE Companions ==== | + | colonel edison w. miller http:// |
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- | LIREC aims to establish a multi-faceted theory of artificial long-term companions (including memory, emotions, cognition, communication, | + | |
- | + | ||
- | ==Agent platforms, | + | |
- | An interesting feature of agents which need to build up a long term relationship with their users will be movement between different platforms. The platforms currently under investigation are: | + | |
- | * Mobile robots | + | |
- | * Fixed robots | + | |
- | * Handheld devices | + | |
- | * Fixed graphical systems | + | |
- | + | ||
- | This migration between these devices, and how people relate to it, is a core element of the research. | + | |
- | + | ||
- | ===Scenarios=== | + | |
- | + | ||
- | The scenarios are to be considered preliminary ideas for showcasing the technology developed for lirec, and highlight companionship and mostly exercise migration between devices. | + | |
- | + | ||
- | ==Heriot Watt== | + | |
- | Spirit of the building: | + | |
- | | + | |
- | - Personal guide - for navigating around a university campus, remember appointments etc | + | |
- | | + | |
- | + | ||
- | ==INESC-ID== | + | |
- | - Game companion for young children | + | |
- | - Personal trainer (migrate to mobile robot for jogging exercises etc) | + | |
- | | + | |
- | between real and game world | + | |
- | + | ||
- | ==University of Hertfordshire== | + | |
- | | + | |
- | | + | |
- | - Telepresence card player - robot mediates play | + | |
- | - Teaching Proxemic preferences - robot learns where to be relative to the user in different situations | + | |
- | - Travelling companion | + | |
- | + | ||
- | ===Architecture=== | + | |
- | + | ||
- | Has to: | + | |
- | | + | |
- | - Reuse code across these 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== | + | |
- | 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. | + | |
- | + | ||
- | NASREM/NIST RCS - NASA + ESA use a generic system with their subcontractors. | + | |
- | + | ||
- | ==Methodology== | + | |
- | In the past there have been 2 broad approaches to robot design: | + | |
- | * Hierarchical, | + | |
- | * Behavioural approach = less state, local decisions, liable to local minima, opaque to program | + | |
- | 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 architecture will consist of 3 layers of abstraction: | + | |
- | * Level 1 - device layer, platform dependant | + | |
- | * Level 2 - platform dependant | + | |
- | * Level 3 - ION, platform independent | + | |
- | + | ||
- | Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all platforms, and different implementations of the same competency will be needed for different platforms. | + | |
- | + | ||
- | Example competencies: | + | |
- | * Face finding | + | |
- | * Expression recognition | + | |
- | * Text to speech | + | |
- | * Obstacle avoidance | + | |
- | + | ||
- | YARP | + |