Fuzzy optimisation based symbolic grounding for service robots

Beisheng Liu
,
Dayou Li
,
Renxi Qiu
,
Yong Yue
,
Carsten Maple
,
Shuang Gu

Research Output:

Chapter in Book/Report/Conference proceeding

Conference contribution

Peer-review

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.

Publication Information

Output type

Research Output:

Chapter in Book/Report/Conference proceeding

Conference contribution

Peer-review

Original language

English

Publication milestones

Published - 20/12/2012

Publication status

Published - 20/12/2012

Publisher

Institute of Electrical and Electronics Engineers Inc., United States

ISBN (Print)

9781467317375

ISBN (Electronic)

9781467317375

Publication IDs

handle.net: 10547/272972
Scopus: 84872323775

Host publication title

nan

Access to documents

10.1109/IROS.2012.6385777

Handle.net

Persistent link

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Related Event

Title

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Description

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (07/10/2012-12/10/2012, Vilamoura-Algarve)

Event type

Conference

Date

07/10/2012 - 12/10/2012

Location

Vilamoura-Algarve