Fuzzy optimisation based symbolic grounding for service robots

Liu, B., Li, D., Qiu, Renxi, Yue, Y., Maple, C. and Gu, S. 2012. Fuzzy optimisation based symbolic grounding for service robots. Presented at: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 7-12 October 2012. Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. IEEE, pp. 1658-1664. 10.1109/IROS.2012.6385777

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Abstract

Symbolic grounding is a bridge between high-level planning and actual robot sensing, and actuation. Uncertainties raised by the unstructured environment make a bottleneck for integrating traditional artificial intelligence with service robotics. This paper presents a fuzzy logic based approach to formalise the grounding problems into a fuzzy optimization problem, which is robust to uncertainties. Novel techniques are applied to establish the objective function, to model fuzzy constraints and to perform fuzzy optimisation. The outcome is tested with a service robot fetch and carry task, where the fuzzy optimisation approach helps the robot to determine the most comfortable position (location and orientation) for grasping objects. Experimental results show that the proposed approach improves the robustness of the task implementation in unstructured environments.

Item Type:	Conference or Workshop Item (Paper)
Date Type:	Publication
Status:	Published
Schools:	Engineering
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Uncontrolled Keywords:	artificial intelligence, fuzzy constraints, fuzzy logic, fuzzy optimisation, object grasping, objective function, planning, robot sensing, service robots, symbolic grounding
Publisher:	IEEE
ISBN:	9781467317375
Last Modified:	19 Mar 2016 23:15
URI:	https://orca.cardiff.ac.uk/id/eprint/44792

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