ROSAPL: towards a heterogeneous multi‐robot system and Human interaction framework
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hdl:2099.1/23164
Tipus de documentProjecte Final de Màster Oficial
Data2014-09
Condicions d'accésAccés obert
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
The appearance of numerous robotic frameworks and middleware has
provided researchers with reliable hardware and software units avoiding
the need of developing ad-hoc platforms and focus their work on how
improve the robots' high-level capabilities and behaviours. Despite this
none of these are facilitating frameworks considering social capabilities
as a factor in robots design.
In a world that everyday seems more and more connected, with the
slow but steady advance of the Internet of Things to many aspects of our
daily lifes, the lack of social capabilities in a robot limits developers and
researchers on areas where robots are seen as part of a solution, and not
the solution. This thesis states that a social layer should be accessible in
any robotic platform in order to ease the development of systems where
such platforms are just a piece in the whole socio-technical system. As
result of this e ort we present the ROSAPL framework to develop social
robots on top of ROS middleware.
We tested our approach in a real scenario at IBEC's Robotics group
in the context of the InHANDS, which project tries to assist a handicapped
persons in the kitchen. For them we designed and implemented
a prototype to proof ROSAPL applicability. This latter will be fully
implemented to o er real functionalities for the kitchen.
TitulacióMÀSTER UNIVERSITARI EN INTEL·LIGÈNCIA ARTIFICIAL (Pla 2017)
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
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MSc-Th-Emili_Boronat-Sep2014 (1) (1).pdf | Memòria | 7,668Mb | Visualitza/Obre |