Publications

Preprints of publications about ROPOD project

"A Workbench for Quantitative Comparison of Databases in Multi-Robot Applications"
R. Ravichandran, N. Huebel, S. Blumenthal, and E. Prassler

Robots generate large amounts of data which need to be stored in a meaningful way such that they can be used and interpreted later. Such data can be written into log files, but these files lack the querying features and scaling capabilities of modern databases - especially when dealing with multi-robot systems, where the trade-off between availability and consistency has to be resolved. However, there is a plethora of existing databases, each with its own set of features, but none designed with robotic use cases in mind. Read more...

"Semantic mapping extension for OpenStreetMap applied to indoor robot navigation"
L. Naik, S. Blumenthal, N. Huebel, H. Bruyninckx, and E. Prassler

In this work a graph-based, semantic mapping approach for indoor robotics applications is presented, which is extending OpenStreetMap (OSM) with robotic-specific, semantic, topological, and geometrical information. Models are introduced for basic indoor structures such as walls, doors, corridors, elevators, etc. The architectural principles support composition with additional domain and application-specific knowledge. Read more...

"Deploying Robots in Everyday Environments: Towards Dependable and Practical Robotic Systems"
A. Mitrevski, S. Thoduka, A. Ortega Sáinz, M. Schöbel, P. Nagel, P. G. Plöger, and E. Prassler

Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with pow- erful introspection capabilities, which means that they cannot always deal with failures in a reasonable manner; in addition, manual diagnosis is often a tedious task that requires technicians to have a considerable set of robotics skills. Read more...

"Reusable Specification of State Machines for Rapid Robot Functionality Prototyping"
A. Mitrevski, P. G. Plöger

When developing robot functionalities, finite state machines are commonly used due to their straightforward semantics and simple implementation. State machines are also a natural implementation choice when designing robot experiments, as they generally lead to reproducible program execution. In practice, the implementation of state machines can lead to significant code repetition and may necessitate unnecessary code interaction when reparameterisation is required. Read more...

"Practical Robot Deployment: Towards an Increased Dependability of Robotic Systems"
A. Mitrevski, S. Thoduka, A. Ortega Sáinz, M. Schöbel, P. Nagel, P. G. Plöger, and E. Prassler

Robot deployment in realistic environments is challenging despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful introspection capabilities, which means that they cannot always deal with failures in an acceptable manner; in addition, manual diagnosis is often a tedious task that requires technicians to have a considerable set of robotics skills. Read more...

"Data-Driven Robot Fault Detection and Diagnosis Using Generative Models: A Modified SFDD Algorithm"
A. Mitrevski and P. G. Plöger

This paper presents a modification of the data-driven sensor-based fault detection and diagnosis (SFDD) algorithm for online robot monitoring. Our version of the algorithm uses a collection of generative models, in particular restricted Boltzmann machines, each of which represents the distribution of sliding window correlations between a pair of correlated measurements. We use such models in a residual generation scheme, where high residuals generate conflict sets that are then used in a subsequent diagnosis step. Read more...

© ropod — 2018
Funded By The European Commission Under Grant No. 731848