Architectures Dynamiques Reconfigurables pour Systèmes Embarqués

Autonomes Mobiles

Reconfigurable and Dynamic Architectures for Mobile Autonomous Embedded Systems

The ADREAM project

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A team of cleaning robots

Several semi-autonomous wheelchairs

Several assistive or

companion robots

A group of service robots

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An Autonomous Interactive Robot guide

Robot Searches for interaction when left alone

Establishes a common task

Programming a H/R task involving several perception and interaction modalities

Abandons mission if guided person stops following

Rackham at « Cité de l’Espace »:

Participating labs:

LAAS, ToulouseEPFL, LausanneIPA, StuttgartKTH, StockholmU. KarlsruheU. BielefeldU. HertfordshireU. AmsterdamVU. Brussels

Funded by the EU FP6 -IST- FET

“Beyond Robotics” Program

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aims developing key components of the next generation of robots, including industrial robots and assist devices (robots of non-industrial applications, e.g. for service, health-care, and entertainment), designed to share the environment and to physically interact with people.

No human aware motion Human aware motion with 2 motion tasks:

• Follow the object path • Look to the object

développement d'un robot mobile autonome équipé de deux bras manipulateurs, système de vision

porter assistance à des personnes handicapées

tâches quotidiennes de manipulation :

- Servir un verre d'eau

- Ramasser un objet

Identification du besoin, validation

Étude et development d'un manipulateur mobile à deux bras pour l'assistance aux personnes handicapées.

LAAS LIRMM Montpellier LISIF Ivry sur seine CEA-LIST Clinique Union Mutualiste PROPARA

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Designing and developing a network of robots that in a cooperative way interact with human beings and the environment for tasks of guidance and assistance, transportation of goods and persons, and surveillance in urban areas

Functional Layer

Supervisor / Task Allocation

Robot 1

Functional Layer

Supervisor / Task Allocation

Robot n

Ethernet

URUS Wireless network

GSM Interface

Environment Perception

Central Station

Task Allocation

GSM

Network

URUS Global Architecture

Human Supervision

ad-hoc Manet for local /real-time needs (formation ..)

• Two methods integrated on FZI and LAAS robots for RFID-based navigation in a structured environment

• Ground-merged short range RFID-barriers: topological localization between areas

• Long range RFIDs in the environment: metrical localization from directional antennas

The FZI and LAAS robots

equipped with RFID readers

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Aerial and Terrestrial

Multi-Robot Platform

Embedded Systems

Distributed Robotic Functions

Model Based Adaptability

Management

Cooperative Multi-Agent Systems

Distributed Autonomous Self-Adaptive Systems

Control Architectures for Multi-robot Cooperation

Execution Control LevelExecution Controller

Decisional LevelProceduralExecutive

(open-PRS)

Temporal PlannerTemporal Executive

(IxTeT)

Functional Level

Communication

SpeedP3D

PosPOM

PosVME

Science

Im. St.Scorrel

Camera Im.

Pos RFLEXPan-Tilt

Unit

DEM Env

GoalNAV

Aspect Obs

Laser RF

Scan

NDD Speed

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Execution Control LevelExecution Controller

Decisional LevelProceduralExecutive

(open-PRS)

Temporal PlannerTemporal Executive

(IxTeT)

Functional Level

Communication

SpeedNAV

PosPOM

PosTarget

Camera Im. Pos PilotePan-TiltUnit

FormationPos

cooperation

distributed task achievement

coordination

• Visual-based navigation taking into account obstacles, occlusions, saturations, human-robot joint motions… • Methods: task function framework, integration control-tracking, “multicriteria” analysis

and synthesis of visual servos

Capture de mouvement humain par vision binoculaire

Estimation des ddls pour interprétation de postures

A Control Architecture for a Cognitive Assistant

SHARY: Supervision for a Cognitive Assistant Human Aware Task Planning

Attention Sharing

Soft Motion

Perspective Taking

Human Aware Manipulation

Human Aware Navigation

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Sensors and devices

Fixed cameras

Environment sensors

Physiological data

Interface devices and “things”

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