Title :
An hyperreality imagination based reasoning and evaluation system (HIRES)
Author :
Rockel, Sebastian ; Klimentjew, Denis ; Liwei Zhang ; Jianwei Zhang
Author_Institution :
TAMS Group, Univ. of Hamburg, Hamburg, Germany
fDate :
May 31 2014-June 7 2014
Abstract :
In this work we ask whether an integrated system based on the concept of human imagination and realized as a hyperreal setup can improve system robustness and autonomy. In particular we focus on how non-nominal failures in a planning-based system can be detected before actual failure. To investigate, we integrated a system combining an accurate physics-based simulation, robust object recognition and a symbolic planner to achieve realistic prediction of robot actions. A Gazebo simulation was used to reason about and evaluate situations before and during plan execution. The simulation enabled re-planning to take place in advance of actual plan failure. We present a restaurant scenario in which our system prevents plan failure and successfully lets the robot serve a drink on a table cluttered with objects. The results give us confidence in our approach to improving situations where unavoidable abstractions of robot action planning meet the real world.
Keywords :
inference mechanisms; object recognition; planning (artificial intelligence); Gazebo simulation; HIRES; autonomy; evaluation system; human imagination; hyperreal setup; hyperreality imagination based reasoning; physics-based simulation; plan execution; plan failure; planning-based system; restaurant scenario; robot action planning; robot actions; robust object recognition; symbolic planner; system robustness; Cognition; Object recognition; Planning; Robot kinematics; Solid modeling; Three-dimensional displays;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907698