[en] This paper presents a distributed world model that is able to adapt to changes in the Quality of Service (QoS) of the communication layer by online reconfiguration of perception algorithms. The approach consists of (a) a mechanism for storage, exchange and processing of world model data and (b) a feedback loop that incorporates reasoning techniques to adapt to QoS changes immediately. The latter introduces a Level of Detail (LoD) metric based on a spatial resolution in order to infer an upper bound for the amount of data that can be transmitted without violating an application specific transmission delay.
Disciplines :
Sciences informatiques
Auteur, co-auteur :
Blumenthal, Sebastian
Hochgeschwender, Nico
Prassler, Erwin
VOOS, Holger ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)
Bruyninckx, Herman
Co-auteurs externes :
yes
Langue du document :
Anglais
Titre :
An Approach for a Distributed World Model with QoS-Based Perception Algorithm Adaptation
Date de publication/diffusion :
2015
Nom de la manifestation :
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS
Lieu de la manifestation :
Hamburg, Allemagne
Date de la manifestation :
Sept 28 - Oct 03, 2015
Manifestation à portée :
International
Titre de l'ouvrage principal :
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, Hamburg, Germany, 2015
R. Murphy, S. Tadokoro, D. Nardi, A. Jacoff, P. Fiorini, H. Choset, and A. Erkmen, "Search and rescue robotics, " in Springer Handbook of Robotics, B. Siciliano and O. Khatib, Eds. Springer Berlin Heidelberg, 2008, pp. 1151-1173
L. Marconi, S. Leutenegger, S. Lynen, M. Burri, R. Naldi, and C. Melchiorri, "Ground and aerial robots as an aid to alpine search and rescue: Initial sherpa outcomes, " in Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on, Oct 2013, pp. 1-2
G. De Cubber, D. Doroftei, D. Serrano, K. Chintamani, R. Sabino, and S. Ourevitch, "The eu-icarus project: Developing assistive robotic tools for search and rescue operations, " in Safety, Security, and Rescue Robotics (SSRR), 2013 IEEE International Symposium on, Oct 2013, pp. 1-4
R. Sheh, T. Kimura, E. Mihankhah, J. Pellenz, S. Schwertfeger, and J. Suthakorn, "The robocuprescue robot league: Guiding robots towards fieldable capabilities, " in ARSO'11, 2011, pp. 31-34
M. Tenorth, A. C. Perzylo, R. Lafrenz, and M. Beetz, "Representation and exchange of knowledge about actions, objects, and environments in the roboearth framework, " IEEE Transactions on Automation Science and Engineering (T-ASE), vol. 10, no. 3, pp. 643-651, 2013
A. Dietrich, S. Zug, S. Mohammad, and J. Keiser, "Distributed management and representation of data and context in robotic applications, " in Proceedings of the IEEE/RSI International Conference on Intelligent Robobts and Systems (IROS), Chicago, Illinois, 2014
E. Troubleyn, I. Moerman, and P. Demeester, "QoS Challenges in Wireless Sensor Networked Robotics, " Wireless Personal Communications, vol. 70, no. 3, pp. 1059-1075, 2013
M. Eich, R. Hartanto, S. Kasperski, S. Natarajan, and J. Wollenberg, "Towards coordinated multirobot missions for lunar sample collection in an unknown environment, " Journal of Field Robotics, vol. 31, no. 1, pp. 35-74, 2014
J. Kammerl, N. Blodow, R. Rusu, S. Gedikli, M. Beetz, and E. Steinbach, "Real-time compression of point cloud streams, " in Robotics and Automation (ICRA), 2012 IEEE International Conference on, May 2012, pp. 778-785
A. Birk, S. Schwertfeger, and K. Pathak, "A networking framework for teleoperation in safety, security, and rescue robotics, " Wireless Communications, IEEE, vol. 16, no. 1, pp. 6-13, 2009
S. Blumenthal, H. Bruyninckx, W. Nowak, and E. Prassler, "A Scene Graph Based Shared 3D World Model for Robotic Applications, " in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013
N. Hochgeschwender, S. Schneider, H. Voos, and G. Kraetzschmar, "Declarative specification of robot perception architectures, " in Proceedings of the International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy, 2014
M. Folk, G. Heber, Q. Koziol, E. Pourmal, and D. Robinson, "An overview of the HDF5 technology suite and its applications, " in Proceedings of the EDBT/ICDT 2011 Workshop on Array Databases. ACM, 2011, pp. 36-47
P. Gärdenfors, Conceptual spaces: The geometry of thought. The MIT Press, 2004
A. Nüchter, 3D Robotic Mapping The Simultaneous Localization and Mapping Problem with Six Degrees of Freedom. Springer, 2009
H. Riiser, P. Vigmostad, C. Griwodz, and P. Halvorsen, "Commute path bandwidth traces from 3g networks: analysis and applications, " in Proceedings of the 4th ACM Multimedia Systems Conference. ACM, 2013, pp. 114-118.
