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*                          Einladung
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*                     Informatik-Oberseminar
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Zeit:        Montag, 05.02.2024, 16:00-17:00 Uhr
 
Ort:         Raum 5053.2 (großer B-IT-Hörsaal)/Informatikzentrum, Geb. E2, Ahornstraße 55
 
Der Vortrag findet hybrid statt:
 

https://rwth.zoom-x.de/j/67154623701?pwd=NnNIWWl0VnkzV0RiL3RyaWF3ZFlJQT09

Referent:     Herr Tim Niemueller, Dipl.-Inform.
                      LuFG Informatik 5
 

Thema:        Planning and Execution for Mobile Robots Using Distributed Persistent Memory

 
Abstract:
 

Robots are expected to help humans in ever more capacities, in household en vironments as well as in industry. This demands increasing autonomy and resilience in order to decrease the need for human intervention and support to a minimum. Robotic systems are composed of a wide range of software components from different areas like perception, self-localization, navigation, decision making, and task execution. This easily leads to compartmentalization of the development, where the whole robot system becomes an afterthought when only best-in-class benchmarks are considered per component.

Three particular problems motivated this thesis: First, data in robot systems is most often volatile, it briefly exists, is transferred, processed, used to make some decision, and eventually discarded, all within a short time window. If data is recorded, it is often done component-specific and not easily accessible. In this thesis, we tackle this problem by a document-oriented database that hooks into a robot system’s middleware to collect as much data as possible. By using MongoDB as the data store and adding the ability to map middleware message into document structures, we gain query capabilities. We have used the database in several applications such as perception, performance and failure analysis, and action macro extraction.

Second, the data exchange and coordination of multi-robot systems usually requires custom approaches. However, with the robot database already in place, using its distributed nature and augmenting it with triggers and computable elements it can fill this role as well, providing a unified robot memory.

Third, robot task execution systems typically decouple domain modeling and execution flow specification, that is the specific details about an application the robot needs to know and the way it goes about choosing goals (which are typically few and human-defined). We have developed the CLIPS-based Executive that builds on Goal Reasoning to explicitly model the flow according to goals, of which there may be many and they can be considered and then selectively chosen for expansion, e.g., by invoking task planning, and then executed. Furthermore, by distributing the robot memory it can easily share data among a fleet of robots and aid in its coordination.

Demonstrations of these systems in two mobile robot domains – domestic service robotics with a single robot and industrial factory logistics with groups of robots – show the applicability and versatility of the approaches developed.

 
Es laden ein: die Dozentinnen und Dozenten der Informatik

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Leany Maaßen

RWTH Aachen University

Lehrstuhl Informatik 5, LuFG Informatik 5

Prof. Dr. Stefan Decker, Prof. Dr. Matthias Jarke,

Prof. Gerhard Lakemeyer Ph.D., JunProf. Dr. Sandra Geisler

Ahornstrasse 55

D-52074 Aachen

Tel: 0241-80-21509

Fax: 0241-80-22321

E-Mail: maassen@dbis.rwth-aachen.de