198documents trouvés
Complex tasks allocation for multi robot teams under communication constraints
Q.CAO, S.LACROIX, F.INGRAND, R.ALAMI
RIS
Manifestation avec acte : National Conference on Control Architecture of Robots (CAR 2010), Douai (France), 18-19 Mai 2010, 12p. , N° 10872
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123845Pivoting based manipulation by a humanoid robot
E.YOSHIDA, M.POIRIER, J.P.LAUMOND, O.KANOUN, F.LAMIRAUX, R.ALAMI, K.YOKOI
AIST, GEPETTO, RIS
Revue Scientifique : Autonomous Robots, Vol.28, N°1, pp.77-88, 2010 , N° 08732
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Mots-Clés / Keywords
Manipulation; Humanoid; Motion planning; Whole-body motion;
A framework for adapting social conventions in a mobile robot motion in human-centered environment
A.KUMAR, R.ALAMI
RIS, TEAM
Manifestation avec acte : 14th International Conference on Advanced Robotics (ICAR 2009), Munich (Allemagne), 22-26 Juin 2009, 8p. , N° 09340
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118040A step towads a sociable robot guide wich monitors and adapts to the person's activities
A.KUMAR, R.ALAMI
TEAM, RIS
Manifestation avec acte : 14th International Conference on Advanced Robotics (ICAR 2009), Munich (Allemagne), 22-26 Juin 2009, 8p. , N° 09341
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118042Regrasp planning for pivoting manipulation by a humanoid robot
E.YOSHIDA, M.POIRIER, J.P.LAUMOND, O.KANOUN, F.LAMIRAUX, R.ALAMI, K.YOKOI
GEPETTO, RIS, AIST
Manifestation avec acte : IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe (Japon), 12-17 Mai 2009, 6p. , N° 09139
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117505An architecture supporting proactive robot companion behavior
M.ALI, S.ALILI, M.WARNIER, R.ALAMI
RIS
Manifestation avec acte : AISB 2009 Convention - Adaptive & Emergent Behavior & Complex Systems, Edimbourg (Ecosse), 6-9 Avril 2009, 8p. , N° 09234
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Abstract
An essential aspect of human robot interaction is proactive robot behavior particularly in situations where the robot is able to determine by itself if, how and when it can intervene and help. This is certainly valuable since it permits the user to be freed from the burden of permanently monitoring the robot and choosing the command that should be issued to the robot. In this work we present an architecture for proactive robot behavior. Its main features involve the ability to select high level goals based on scenario recognition. The goals are then refined by a specific planner that is able to determine if the robot can contribute to the goal achievement and finally a human aware supervision system that allows the robot to share the human activity thanks to its ability to achieve task cooperatively. The paper describes the overall system and its implementation on a realistic testbed.
D5.1. Adaptive planning capability report
R.ALAMI, E.A.SISBOT
RIS
Rapport de Contrat : Projet Européen CHRIS. FP7, Février 2009, 23p. , N° 09521
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118810A plan manager for multi-robot systems
S.JOYEUX, R.ALAMI, S.LACROIX, R.PHILIPPSEN
RIS, STANFORD
Revue Scientifique : International Journal of Robotics Research, Vol.28, N°2, pp.220-240, Février 2009 , N° 09297
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Abstract
This paper presents a software component, the plan manager, which provides the services needed to build and execute plans in a multirobot context. This plan manager handles fully dynamic plans (insertion and removal of tasks), provides tools for safe concurrent execution and modification of plans, and handles distributed plan supervision without permanent robot-to-robot communication. The proposed concept is illustrated by a scenario which involves the navigation of a rover and an unmanned aerial vehicle in an initially unmapped environment.
A Hybrid Approach to Intricate Motion, Manipulation and Task Planning
R.ALAMI, F.GRAVOT, S.CAMBON
RIS
Revue Scientifique : The International Journal of Robotics Research, Vol.28, N°1, pp.104-126, Janvier 2009 , N° 09345
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118057A Task Planner for an Autonomous Social Robot
S.ALILI, R.ALAMI, V.MONTREUIL
RIS
Manifestation avec acte : DARS 2008 - Distributed Autonomous Robotic Systems 2008, Tsukuba (Japon), 17-18 Novembre 2008 , N° 08849
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