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In this paper we present a novel representation framework based on Petri Nets for describing robot and multi-robot behaviors. The Petri Net Plan (PNP) formalism allows for high level description of complex action interactions that are necessary in programming cognitive robots: non-instantaneous actions, sensing and conditional actions, action failures,(More)
— Intense efforts to define a common structure in robotic applications, both from a conceptual and from an implementation point of view, have been carried out in the last years and several frameworks have been realized for helping in developing robotic applications. However, due to the diversity of these applications, as well as of the research groups(More)
We describe an approach to reasoning agents which is based on a formal theory of actions and is actually implemented on a mobile robot working in an ooce environment. From an epistemological viewpoint, our proposal is originated by the correspondence between Dynamic Logics and Description Logics. Speciically, we consider an epistemic extension of(More)
— In this paper we present an asynchronous distributed mechanism for allocating tasks in a team of robots. Tasks to be allocated are dynamically perceived from the environment and can be tied by execution constraints. Conflicts among team mates arise when an uncontrolled number of robots execute the same task, resulting in waste of effort and spatial(More)
This paper presents a flexible 3D simulator able to reproduce the appearance and the dynamics of generic legged robots and objects in the environment at full frame rate (30 frames per second). Such a simulator extends and improves USARSim (Urban Search and Rescue Simulator), a robot simulator in turn based on the game platform Unreal Engine. This latter(More)
" Exploration and search " is a typical task for autonomous robots performing in rescue missions, specifically addressing the problem of exploring the environment and at the same time searching for interesting features within the environment. In this paper, we model this problem as a multi-objective exploration and search problem and present a prototype(More)
Following a person is an important task for mobile service and domestic robots in applications in which human-robot interaction is a primary requirement. In this paper we present an approach that integrates appearance models and stereo vision for efficient people tracking in domestic environments. Stereo vision helps in obtaining a very good segmentation of(More)
The need for improving the robustness, as well as the ability to adapt to different operational conditions, is a key requirement for a wider deployment of robots in many application domains. In this paper, we present an approach to the design of robotic systems, that is based on the explicit representation of knowledge about context. The goal of the(More)