ROS (Robot Operating System) & Natural Language 2016


Notes:

ROS, the Robot Operating System, is a collection of software frameworks for robot software development.  For speech recognition, ROS uses PocketSphinx, the mobile version of CMUSphinx (documentation).

Resources:

Wikipedia:

References:

See also:

100 Best Gazebo ROS Videos100 Best Robot Operating System Videos


Affective Personalization of a Social Robot Tutor for Children’s Second Language Skills.
G Gordon, S Spaulding, JK Westlund, JJ Lee… – AAAI, 2016 – jakory.com
… and family: A review of 17 years of natural language tu- toring. International Journal of Artificial Intelligence in Education 24(4):427–469. Quigley, M.; Conley, K.; Gerkey, B.; Faust, J.; Foote, T.; Leibs, J.; Wheeler, R.; and Ng, AY Ros: an open- source robot operating system. …

Robot learning with a spatial, temporal, and causal and-or graph
C Xiong, N Shukla, W Xiong… – Robotics and Automation …, 2016 – ieeexplore.ieee.org
… Uniting explicit and implicit knowledge allows immediate communication through natural language [8], as well as clear grounding of abstract concepts into atomic actions. … All components interact together through the Robot Operating System (ROS). …

Exploiting deep semantics and compositionality of natural language for Human-Robot-Interaction
M Eppe, S Trott, J Feldman – Intelligent Robots and Systems …, 2016 – ieeexplore.ieee.org
… In our approach, we use an Embodied Construction Grammar (ECG) [18] analyzer to capture deep semantics in natural language by pairing syntax … In this paper, we describe how we connect the ECG language analyzer to the Robot Operating System (ROS) [21] in an effort to …

A Framework for Resolving Open-World Referential Expressions in Distributed Heterogeneous Knowledge Bases.
T Williams, M Scheutz – AAAI, 2016 – aaai.org
… Introduction For robotic or virtual situated agents to effectively engage in natural language interactions with humans, they must be able to identify the people, locations, and objects mentioned by their human interlocutors. This …

Human–robot interaction review and challenges on task planning and programming
P Tsarouchi, S Makris… – International Journal of …, 2016 – Taylor & Francis
Page 1. Human–robot interaction review and challenges on task planning and programming Panagiota Tsarouchi, Sotiris Makris and George Chryssolouris* Laboratory for Manufacturing Systems and Automation, Department …

Reactive high-level behavior synthesis for an atlas humanoid robot
S Maniatopoulos, P Schillinger, V Pong… – … (ICRA), 2016 IEEE …, 2016 – ieeexplore.ieee.org
… We have implemented and open-sourced the proposed approach as a collection of Robot Operating System (ROS [18]) packages. … would have been asking the user to write the entire formal specification directly, eg, in LTL, Structured English [5], or natural language [6]. Filippidis …

A deep-network solution towards model-less obstacle avoidance
L Tai, S Li, M Liu – Intelligent Robots and Systems (IROS), 2016 …, 2016 – ieeexplore.ieee.org
… and bio-inspired perception Since the last decade, deep-network structures have been adopted ubiquitously not only in robotics [1], [2], [3], [4], but also natural language processing [5 … We use the open source framework Robot Operating System(ROS)2 to integrate the test system …

Robot Planning in the Real World: Research Challenges and Opportunities.
R Alterovitz, S Koenig, M Likhachev – AI Magazine, 2016 – pdfs.semanticscholar.org
… The development of the Robot Operating System (ROS)12 has had an enormous effect on sharing research results between … robotics and artificial intelligence with researchers from neighboring disciplines, such as computer vision, haptics, natural language processing, and …

Cognition-enabled robot control for mixed human-robot rescue teams
F Yazdani, B Brieber, M Beetz – Intelligent Autonomous Systems 13, 2016 – Springer
… An Architectural Approach to Unstructured Information Processing in the Corporate Research Environment,” Natural Language Engineering, vol. 10, no. 3–4, pp. 327–348, 2004. 5. M. Quigley, K. Conley, and B. Gerkey, “ROS: an open-source Robot Operating System,” in IEEE …

Are you talking to me?: Improving the Robustness of Dialogue Systems in a Multi Party HRI Scenario by Incorporating Gaze Direction and Lip Movement of Attendees
V Richter, B Carlmeyer, F Lier… – Proceedings of the …, 2016 – dl.acm.org
… I.2.9 Robotics; I.5.5 Implementation: Interactive systems; I.2.11 Distributed Artificial Intelligence: Intelligent agents; I.2.7 Natural Language Processing: Speech … Supported middle- ware implementations are Robot Operating System (ROS)[27] and Robotics Service Bus (RSB)[34]. …

Spatial concept acquisition for a mobile robot that integrates self-localization and unsupervised word discovery from spoken sentences
A Taniguchi, T Taniguchi… – IEEE Transactions on …, 2016 – ieeexplore.ieee.org
… vocabulary and natural language processing studies based on lexical, syntactic, and semantic knowledge [1], [2]. Studies on language acquisition by robots also constitute a construc- tive approach to the human developmental process and the emergence of symbols. …

Vocal interaction with a 7-DOF robotic arm for object detection, learning and grasping
S Rosa, A Russo, A Saglinbeni… – … -Robot Interaction (HRI) …, 2016 – ieeexplore.ieee.org
… Conversational robots are an important area of research because of their potential to provide a natural language interface with the user … The system was implemented using the Robot Operating System (ROS) [2]. ROS is an open-source, meta-operating system for robot software …

Requirements for building an ontology for autonomous robots
B Bayat, B Bayat, J Bermejo-Alonso… – Industrial Robot: An …, 2016 – emeraldinsight.com
… much harder limit to the possible interpretations of the terms in the domain, constituting a preferable tool for standardization work than simple lists of term definitions written in natural language. … The robot operating system (ROS) (Quigley et al., 2009) is an example of middleware …

Application-Independent and Integration-Friendly Natural Language Understanding.
M Eppe, S Trott, V Raghuram, JA Feldman, A Janin – GCAI, 2016 – publications.eppe.eu
… and one could also connect external tools for these tasks (eg [7]). While there are many cases where it is better to do this within the app, such as the Robot Operating System (ROS), which … Application-Independent and Integration-Friendly Natural Language Understanding …

Autonomous indoor robot navigation using a sketch interface for drawing maps and routes
F Boniardi, A Valada, W Burgard… – … and Automation (ICRA) …, 2016 – ieeexplore.ieee.org
… 3, was implemented using the Robot Operating System (ROS) framework and the interface components were implemented on the Android operating system. … Learning spatial-semantic representations from natural language descriptions and scene classifications. In Proc. …

Robot Scavenger Hunt: A Standardized Framework for Evaluating Intelligent Mobile Robots.
S Zhang, D Lu, X Chen, P Stone – IJCAI, 2016 – pdfs.semanticscholar.org
… In that case, the robot will need human-robot interaction (HRI) capabilities such as natural language processing (NLP) and gesture recognition, eg, for pointing to the object that needs to be loaded. … ROS: an open-source robot operating system. …

Unsupervised range image segmentation and object recognition using feature proximity and Markov random field
DL Rizzini, F Oleari, A Atti, J Aleotti… – … Autonomous Systems 13, 2016 – Springer
… The detection, selection and recognition modules have been implemented as separated components using ROS (Robot Operating System) framework. … on Empirical Methods in Natural Language Processing and Computational Natural Language Learning (EMNLP-CoNLL). …

Improving grounded language acquisition efficiency using interactive labeling
N Pillai, KK Budhraja, C Matuszek – Robotics: Science and …, 2016 – ece.rochester.edu
… [6] Felix Duvallet, Matthew R Walter, Thomas Howard, Sachithra Hemachandra, Jean Oh, Seth Teller, Nicholas Roy, and Anthony Stentz. Inferring maps and behaviors from natural language instructions. … ROS: An Open-source Robot Operating System. …

Planning with Task-Oriented Knowledge Acquisition for a Service Robot.
K Chen, F Yang, X Chen – IJCAI, 2016 – ijcai.org
… The semantic parser is built upon a categorical combinatorial grammar parser [Xie et al., 2013] that first translated natural language instructions into ASP … vitamin drink and apple juice (Figure 3(c)). Our system is implemented as a node in ROS (Robot Operating System) network. …

Linear Temporal Logic-based Mission Planning.
A Kumar, R Kala – … Journal of Interactive Multimedia & Artificial …, 2016 – dialnet.unirioja.es
… Keywords — Temporal Logic, Linear Temporal Logic, Mission Planning, Robot Operating System, Robot Motion Planning. I. INTRODUCTION … This gives a language, very similar to natural language, to the owner to control the robot. …

Testing, Verification and Improvements of Timeliness in ROS processes
MY Hazim, H Qu, SM Veres – Conference Towards Autonomous Robotic …, 2016 – Springer
… 585–591. Springer, Heidelberg (2011)CrossRef. 8. Lincoln, NK, Veres, SM: Natural language programming of complex robotic BDI agents. Intell. … Quigley, M., Conley, K., Gerkey, BP, Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, AY: ROS: an open-source robot operating system. …

Detection and target tracking with a quadrotor using fuzzy logic
K Boudjit, C Larbes – Modelling, Identification and Control …, 2016 – ieeexplore.ieee.org
… The control of the drone is done using Robot Operating System (ROS). In this paper, we present the tracking-target control law based on a fuzzy logic controller. … This technique is based on human thinking and decision making based on natural language. …

A platform for building new human-computer interface systems that support online automatic recognition of audio-gestural commands
N Kardaris, I Rodomagoulakis, V Pitsikalis… – Proceedings of the …, 2016 – dl.acm.org
… Interfaces may incorporate audio/visual information via gesture, speech recog- nition and natural language processing, as well as … 2. OVERALL SYSTEM DESCRIPTION The overall framework is based on the Robot Operating System (ROS) and comprises three individual …

Conversational Interfaces: Devices, Wearables, Virtual Agents, and Robots
M McTear, Z Callejas, D Griol – The Conversational Interface, 2016 – Springer
… Given that they operate in a situated environment, robots have the advantage that they can learn language by extracting representations of the meanings of natural language expressions that are tied to perception and actuation in the … 13.9.10 The Robot Operating System (ROS). …

Socially adaptive path planning in human environments using inverse reinforcement learning
B Kim, J Pineau – International Journal of Social Robotics, 2016 – Springer

Context-aware Spoken Language Understanding for Human Robot Interaction
A Vanzo, D Croce, R Basili, D Nardi – CLiC it, 2016 – researchgate.net
… 2011. Learn- ing to interpret natural language navigation instruc- tions from observations. In Proceedings of the 25th AAAI Conference on AI, pages 859–865. … 2009. Ros: an open-source robot operating system. In ICRA Workshop on Open Source Software. …

An ontology-based hybrid architecture for planning and robust execution in tabletop scenarios
A Capitanelli, F Mastrogiovanni – researchgate.net
… Current work is focused on expanding the architecture to allow a human user to interact with the robot using a natural language interface. … 9. Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R. and Ng, AY: ROS: an open-source Robot Operating System. …

Affective Personalization of a Social Robot Tutor for Children’s Second Language Skills
L Plummer, M Martinez, M Das, C Breazeal – 2016 – aaai.org
… and family: A review of 17 years of natural language tutoring. International Journal of Artificial Intelligence in Education 24(4):427–469. Quigley, M.; Conley, K.; Gerkey, B.; Faust, J.; Foote, T.; Leibs, J.; Wheeler, R.; and Ng, AY Ros: an open-source robot operating system. …

WrightEagle@ Home 2016 Team Description Paper
W Shuai, J Liu, X Wang, F Zhou, X Chen – ais.uni-bonn.de
… First, we wan- t to build an intelligent robot integrated with advanced AI techniques, such as natural language processing, hierarchical task … 1(a). As for the software system, Robot Operating System (ROS)2 has been em- ployed as the infrastructure supporting the communication …

Continuously Improving Natural Language Understanding for Robotic Systems through Semantic Parsing, Dialog, and Multi-modal Perception
J Thomason – 2016 – pdfs.semanticscholar.org
… based robot platform (Segbot) as shown in Figure 5 (Left) using the Robot Operating System (ROS) (Quigley et al. [2009]). The robot architecture is shown in Figure 5 (Right). Users interacted with the agent through a graphical user interface by typing in natural language. …

Integration framework for speech processing with live visualization interfaces
D Brodeur, F Grondin, Y Attabi… – Robot and Human …, 2016 – ieeexplore.ieee.org
… algorithms can be implemented and compared [5], [9]. HARK can be interfaced with ROS, the Robot Operating System [10]. … other libraries for conducting comparative studies (for instance for speech and emotion recognition algorithms), add natural language understanding to …

Emotive Robotics with I-Zak
H Foresti, G Finch, L Cavalcanti, F Alves, D Lacerda… – ais.uni-bonn.de
… ROS (Robot Operating System) is a collaboratively developed open source framework for controlling robots. … the Sphinx software from Carnegie Mellon Uni- versity [10], our applications are making strides in the areas of audio processing and understanding of natural language. …

Social Human-Robot Interaction: A New Cognitive and Affective Interaction-Oriented Architecture
S Pesty – Social Robotics: 8th International Conference, ICSR …, 2016 – books.google.com
… also contribute to the local regulation of dialogue [7]. They are adopted from a set of discourse obligation rules defined 2 Natural Language Understanding is a … The current version is based on ROS (Robot Operating System), which is largely used in the robotic community. …

Speech Intent Recognition for Robots
B Shen, D Inkpen – … and Computers in Sciences and in Industry …, 2016 – ieeexplore.ieee.org
… Building spoken dialog systems usually requires great effort, because the training of an automatic speech recognition engine, natural language understanding and speech … runs corresponding programs on the Robot Operating System (ROS) in order to move robot’s parts. IV. …

Recognizing Voice-Based Requirements to Drive Self-Adaptive Software Systems
X Zhang, Q Yang, J Xing, D Han – Computer Software and …, 2016 – ieeexplore.ieee.org
… Secondly, natural language also hide implicit information which determine the quality of the mission. … ACM, 2010: 15. [10] Quigley M, Conley K, Gerkey B, et al. ROS: an open-source Robot Operating System[C]//ICRA workshop on open source software. …

Standardization of a Heterogeneous Robots Society Based on ROS
I Rodriguez, E Jauregi, A Astigarraga, T Ruiz… – Robot Operating System …, 2016 – Springer
Chapter Robot Operating System (ROS). … robots. HRI is a multidisciplinary field with contributions from human-computer interaction, Artificial Intelligence, robotics, natural language understanding, design, and social sciences. …

Task execution based-on human-robot dialogue and deictic gestures
P Yan, B He, L Zhang, J Zhang – Robotics and Biomimetics …, 2016 – ieeexplore.ieee.org
… This natural language command can be classified to Robot- Objects-User task type and grounded to a sequence of … speech recognition, semantic parsing, deictic gestures retrieving, perception of environment and robot control is implemented in ROS (Robot Operating System). …

Action Selection for Interaction Management: Opportunities and Lessons for Automated Planning
R Petrick, ME Foster – 2016 – eprints.gla.ac.uk
… ROS- Plan: Planning in the Robot Operating System. In Proceedings of ICAPS 2015. Cohen, P., and Levesque, H. 1990. … of SIGdial 2014, 263– 272. Hovy, E. 1988. Generating natural language under pragmatic constraints. Hillsdale, NJ, USA: Lawrence Erlbaum Associates. …

LEGO Mindstorms NXT for elderly and visually impaired people in need: A platform
A Al-Halhouli, H Qitouqa, N Malkosh… – … and Health Care, 2016 – content.iospress.com
… For these reasons, using natural language, the need for a robot provides information related to activities of daily living obtained from different resources is crucial for development and foundation of such a robotics [6,17]. … ROS: an open-source Robot Operating System. …

Automated Surveillance from a Mobile Robot
W Lawson, K Sullivan, E Bekele, LM Hiatt… – 2016 AAAI Fall …, 2016 – aaai.org
… Demonstration PatrolBot works as follows: a human could tell the robot to investigate an area of the environment via simple natural language. … 64 Page 4. Figure 4: Map of LASR For navigation, we use the Robot Operating System (ROS) navigation stack (Quigley et al. 2009). …

A Unified Knowledge Representation System for Robot Learning and Dialogue
N Shukla – 2016 – search.proquest.com
… Uniting explicit and implicit knowledge allows immediate communication through natural language [8], as well as clear grounding of abstract concepts into atomic actions. … All components interact together through the Robot Operating System (ROS). …

Find my office: Navigating real space from semantic descriptions
B Talbot, O Lam, R Schulz, F Dayoub… – … (ICRA), 2016 IEEE …, 2016 – ieeexplore.ieee.org
… The left side of Figure 3 shows the constraints on spatial layout in space A from the natural language phrases in Figure 2b. … B. Robot platform In the simulated environment, a simulated robot, created through ROS (Robot Operating System), built a map of its environment with a …

Towards Natural Human Control and Navigation of Autonomous Wheelchairs
S Echefu – 2016 – search.proquest.com
… 16. 2.3 Robot Operating System (ROS) …. 17. … NLP Natural Language ProcessingHCI Human Computer InteractionIWASR Isolated-Word Automatic Speech Recognition SER Speech Emotion RecognitionSVM Support Vector Machines. …

CHALLENGES FACING MIDLLEWARE FOR MOBILE ROBOTS IN SMART ENVIRONMENT
MA RABBAH, N RABBAH, H BELHADAOUI, M RIFI – ijser.org
… must keep in mind different types of AI, namely: machine learning (deep learning, predictive analytics), natural language processing, planning … The middleware studied here were Player/Stage [5], Robot operating system (ROS) [6], Miro [7], Microsoft Robotics Developer Studio …

EXTRACTING ACTIONS FROM INSTRUCTION MANUAL AND TESTING THEIR EXECUTION IN A ROBOTIC SIMULATION
PN Hung, T Yoshimi – seed-net.org
… 481-495, 2013. [6] DK Misra, J. Sung, K. Lee, and A. Saxena, “Tell me dave: context-sensitive grounding of natural language to manipulation instructions”, Proceedings of Robotics … [Accessed: Feb, 2016] [13] “ROS 101: Intro to the Robot Operating System”, Available: http://www. …

High-precision telerobot with human-centered variable perspective and scalable gestural interface
K Kruusamäe, M Pryor – Human System Interactions (HSI) …, 2016 – ieeexplore.ieee.org
… control interface that allows the operator to modify the user perspective, command via hand gestures and natural language, and scale … The teleoperator software utilizes the Robot Operating System (ROS) which enables open-source development and hardware agnosticism. …

A Step Forward in Human-Robot Collaboration–The Project CollRob
R Velik, S Yahjanejad, B Dieber, M Brandstötter… – researchgate.net
… We realize the publish/subscribe system using the Robot Operating System (ROS). … As a next step, the acoustic interface will be extended to include natural language understanding together with a more advanced dialogue manager. …

Training an interactive humanoid robot using multimodal deep reinforcement learning
H Cuayáhuitl, G Couly, C Olalainty – arXiv preprint arXiv:1611.08666, 2016 – arxiv.org
… [6] N. Dethlefs and H. Cuayáhuitl. Hierarchical reinforcement learning for situated natural language genera- tion. Natural Language Engineering, 21(3):391–435, 2015. … Ros: an open-source robot operating system. In ICRA Workshop on Open Source Software, 2009. …

SUBTLE: Situation Understanding Bot through Language and Environment
HA Yanco, H Kress-Gazit, H Yanco, DJ Brooks… – 2016 – dtic.mil
… The operator communicates instructions to the system through natural language and is given feedback on how each instruction was understood as the system constructs a logical representation of its orders using linear temporal logic. While the plan is …

Learning from the Wizard: Programming Social Interaction through Teleoperated Demonstrations
WB Knox, S Spaulding, C Breazeal – Proceedings of the 2016 …, 2016 – dl.acm.org
… Ros: an open-source robot operating system. In ICRA workshop on open source software, volume 3, page 5, 2009. [7] V. Rieser and O. Lemon. Learning human multimodal dialogue strategies. Natural Language Engineering, 16(01):3–23, 2010. …

Virtour: Telepresence System for Remotely Operated Building Tours
P Lankenau – 2016 – pdfs.semanticscholar.org
… ROS: an open-source Robot Operating System. In ICRA Workshop on Open Source Software (Vol. 3, p. 5). … 16 Page 17. Thomason, J., Zhang, S., Mooney, R., & Stone, P. (2015). Learning to interpret natural language commands through human-robot dialog. …

Social Human-Robot Interaction: A New Cognitive and Affective Interaction-Oriented Architecture
C Adam, W Johal, D Pellier, H Fiorino… – … Conference on Social …, 2016 – Springer
… The current version is based on ROS (Robot Operating System), which is largely used in the robotic community … Natural Language Understanding is a complex research field of its own, we do not tackle this problem here, and instead use an ad-hoc grammar specifically designed …

Simultaneous human-robot command and localization
CJRI Lopez – 2016 – search.proquest.com
… 2.6 Natural Language Command for Robots 9. … There are a multitude of tools available for interacting with robots, particularlyas part of ROS (Robot Operating System; ros.org), including, but not limited to,those for pose estimation, mapping, command, video transmission, and …

Designing service/care robot
P Isoaho – 2016 – theseus.fi
… The fundamental problems of AI research include knowledge, reasoning, planning, learn- ing, perception, natural language processing (communication), and the ability to move … Robot Operating System (ROS) is a collection of software frameworks for robot software …

How Much Should a Robot Trust the User Feedback? Analyzing the Impact of Verbal Answers in Active Learning
V Gonzalez-Pacheco, M Malfaz, JC Castillo… – … Conference on Social …, 2016 – Springer
… In: Proceedings of the 2009 Conference on Empirical Methods in Natural Language Processing, vol. 1, pp. 81–90. … Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., Ng, A.: ROS: an open-source Robot Operating System. …

Navigation and path planning using reinforcement learning for a Roomba robot
DP Romero-Martí, JI Núñez-Varela… – Robotica, 2016 XVIII …, 2016 – ieeexplore.ieee.org
… representation, task planner, navigation, human-robot interaction (which contains submod- ules for speech recognition and natural language understand- ing … In this section we first describe the features of the robot, then a brief introduction to the robot operating system (ROS) is …

Extended LTLvis motion planning interface
W Wei, K Kim, G Fainekos – Systems, Man, and Cybernetics …, 2016 – ieeexplore.ieee.org
Page 1. Extended LTLvis Motion Planning Interface Wei Wei, Kangjin Kim and Georgios Fainekos The School of Computing, Informatics and Decision Systems Engineering Arizona State University Tempe, AZ, USA Email: {wwei17,Kangjin.Kim,fainekos}@asu.edu …

A Robotic Home Assistant with Memory Aid Functionality
I Wieser, S Toprak, A Grenzing, T Hinz, S Auddy… – Joint German/Austrian …, 2016 – Springer
… It can also describe the location of objects using natural language and is able to move to a specified object, when the user asks to do … Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., Ng, A.: ROS: an open-source robot operating system. …

Path planning with user route preference-A reward surface approximation approach using orthogonal Legendre polynomials
AR Srinivasan, S Chakraborty – Automation Science and …, 2016 – ieeexplore.ieee.org
… The Turtlebot is a low cost robot kit which runs on open source software ROS (Robot Operating System). … Additionally, if the natural language processing engine is included into the framework, it can bring the human-robot collaboration experience to the next level. …

SAGE: Semantic Annotation of Georeferenced Environments
P Moghadam, B Evans, E Duff – Journal of Intelligent & Robotic Systems, 2016 – Springer
… capability ensures that multi-word utterances are recorded in one snippet and thus, allows the system to achieve higher voice recognition accuracy using Natural Language Processing (NLP). … We use Robot Operating System (ROS) Hydro in the Zebedee system for time server. …

An insight to multi-tasking in cognitive robotics
RK Panda, S Saxena – Computing for Sustainable Global …, 2016 – ieeexplore.ieee.org
… Multi tasking with cognitive intelligence of robots have been studied and application of natural language, human facial emotion and body gesture analysis have been done while … Robot Operating System (ROS)[23] 1. Handling assembly tasks with robot and human assistance. …

How Much Should a Robot Trust the User Feedback? Analyzing the Impact of Verbal Answers in Active Learning
A Castro-Gonzalez, F Alonso-Mart?n… – Social Robotics: 8th …, 2016 – books.google.com
… In: Proceedings of the 2009 Conference on Empirical Methods in Natural Language Processing, vol. 1, pp. … Dev. 2 (2), 65–69 (2010) Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., Ng, A.: ROS: an open-source Robot Operating System. …

An Adaptive Goal-Based Model for Autonomous Multi-Robot Using HARMS and NuSMV
Y Kim, JW Jung, JC Gallagher… – International Journal of …, 2016 – e-sciencecentral.org
… A natural language exchange model for enabling human, agent, robot and machine interaction. … [CrossRef] [Google Scholar]. 33. Quigley M, Gerkey B, Conley K, Faust J, Foote T, Leibs J, Berger E, Wheeler R, Ng A. ROS: an opensource robot operating system. …

A ROS-Based System for an Autonomous Service Robot
V Seib, R Memmesheimer, D Paulus – Robot Operating System (ROS), 2016 – Springer
… Robot Operating System (ROS). Volume 625 of the series Studies in Computational Intelligence pp 215-252. … Further, it will be able to recognize objects. Finally, the robot will be able to receive and react to speech commands and reply using natural language. …

Language based shared control of a mobile-manipulator robotic assistant for quadriplegics
C Kaur – 2016 – search.proquest.com
… In order to produce required action, the natural language instructions need to be mapped to the sensing and actuation primitives that the robot is able to understand. … ROS is an open source robot operating system [57] designed with portability and distributability goals in mind. …

Neurocognitive Robot Assistant for Robust Fall Detection
GI Parisi, S Wermter – academia.edu
Page 1. Neurocognitive Robot Assistant for Robust Fall Detection German I. Parisi and Stefan Wermter Abstract Falls represent a major problem in the public health care domain, espe- cially among the elderly population. Therefore …

Next Generation Robotics
HI Christensen, A Okamura, M Mataric, V Kumar… – arXiv preprint arXiv …, 2016 – arxiv.org
… manufacturing processes. In the domain of robotics the Industrial Robot Operating System (ROS-I) eco-system has developed the systems MoveIt15, which is a robot task-planning framework that allow automatic code-generation. The …

Leveraging Large-Scale Semantic Networks for Adaptive Robot Task Learning and Execution
A Boteanu, A St. Clair, A Mohseni-Kabir… – Big data, 2016 – online.liebertpub.com
… We split these labels into words and lemmatize them by using the Natural Language Toolkit (NLTK). … 47 This web-based framework handles user and study management and integration with the robot control systems implemented by using the Robot Operating System (ROS). …

User Acceptance of Social Robots
IA Hameed, ZH Tan, NB Thomsen… – … Conference on Advances …, 2016 – researchgate.net
… iSocioBot software system is based on Robot Operating System (ROS) and Ubuntu … Although the robot has a more sophisticated artificial intelligence (AI)-based dialogue with natural language understanding system, which is able to respond to users in a more human and natural …

A Multi-agent Organization Approach for Developing Social-Technical Software of Autonomous Robots
S Yang, X Mao, Y Chen, S Yang – International Conference of Young …, 2016 – Springer
… based on object-orientation paradigm, from robot programming languages to development framework such as Robot Operating System (ROS) [16]. … in term of various artificial intelligence technologies and algorithms such as image recognition, natural language understanding. …

Understanding therapists’ needs and attitudes towards robotic support. the roboterapia project
I Zubrycki, G Granosik – International Journal of Social Robotics, 2016 – Springer
… The ability to use natural language to ask for help was seen as very important. … The Ono robot is an open hardware platform, based on a Raspberry Pi [17], which allowed us to connect it to a Robot Operating System (ROS) and use the Ivona commercial-grade text-to-speech …

Reports of the AAAI 2016 Spring Symposium Series
C Amato, O Amir, J Bryson, B Grosz, B Indurkhya… – AI …, 2016 – go.galegroup.com
… principles to help bring social robots to life; and Nate Koenig (CTO, Open Source Robotics Foundation) overviewed two popular open-source robotics software tools–Robot Operating System (ROS) and … (for example, new systems that leverage natural language processing and …

Machine Learning Algorithm for Nao robot
J Marechal, T Dahl – … Networks, Robotics and Security Volume 13, 2016 – books.google.com
… and has emerged as the method of choice for developing practical software for computer vision, speech recognition; natural language processing, robot … 3 Experimental Methodology ROS The Robot Operating System (ROS) is a flexible framework for writing robot software. …

ActBot: Sharing high-level robot AI scripts
C Creusot – Robot and Human Interactive Communication (RO …, 2016 – ieeexplore.ieee.org
Page 1. ActBot: Sharing High-level Robot AI Scripts Clement Creusot1 Abstract—Robot behaviors are often hard-coded by skilled engineers to perform specific actions in reaction to specific events. These codes are either high …

Structured synthesis and compression of semantic human sensor models for Bayesian estimation
N Sweet, N Ahmed – American Control Conference (ACC) …, 2016 – ieeexplore.ieee.org
… [10] showed how to model and sequentially fuse flexible semantic natural language data to provide a broad range of positive/negative information for Bayesian state es- timation, eg ‘The target is parked near the tree in front of you’, ‘Nothing is next to the truck heading North’. …

Semantic Likelihood Models for Bayesian Inference in Human-Robot Interaction
N Sweet – 2016 – search.proquest.com
… MMS multimodal softmax. NLP natural language processing. PCCG probabilistic combinatory categorical grammar. pdf probability density function. PM particle model. ROS robot operating system. SGNS skip-gram negative sampling. UAS unmanned aerial system. 2. …

The armarX statechart concept: graphical Programing of robot Behavior
M Wächter, S Ottenhaus, M Kröhnert… – … in Robotics and AI, 2016 – journal.frontiersin.org
Programming sophisticated robots such as service robots or humanoids is still a complexendeavor. Although programming robotic applications requires specialist knowledge, a robotsoftware environment should support convenient development while maintaining full flexibilityneeded …

Unix Philosophy and the real World: control software for humanoid robots
NT Dantam, K Bøndergaard… – … in Robotics and AI, 2016 – journal.frontiersin.org
Robot software combines the challenges of general purpose and real-time software, requiring complex logic and bounded resource use. Physical safety, particularly for dynamic systems such as humanoid robots, depends on correct software. General purpose computation has converged …

RoCKIn and the European Robotics League-Building on RoboCup Best Practices to Promote Robot Competitions in Europe
PU Lima, D Nardi, GK Kraetzschmar, R Bischoff… – 2016 – ais.uni-bonn.de
… pose data are acquired and logged by a customized external software system based on ROS (Robot Operating System): more precisely … pattern recogni- tion, object and people detection, object grasping and manipulation, and Human-Robot Interaction in natural language. …

Robobarista: Learning to Manipulate Novel Objects via Deep Multimodal Embedding
J Sung, SH Jin, I Lenz, A Saxena – arXiv preprint arXiv:1601.02705, 2016 – arxiv.org
… We formulate the manipulation planning as a structured prediction problem and learn to transfer manipulation strategy across different objects by embedding point-cloud, natural language, and manipulation trajectory data into a shared embedding space using a deep neural …

Simulation tools for robotics research and assessment
MA Fields, R Brewer, HL Edge… – SPIE …, 2016 – proceedings.spiedigitallibrary.org
Page 1. Simulation tools for robotics research and assessment MaryAnne Fields a , Ralph Brewer a , Harris L. Edge a , Jason L. Pusey a Ed Weller b , Dilip G. Patel b , Charles A. DiBerardino b a US Army Research Laboratory …

Rational-Based Visual Planning Monitors.
Z Alavi, MT Cox – IJCAI, 2016 – makro.ink
… for various planning domains (again see Figure 1). In MIDCA Version 1.3, we have added an API interface to communicate with the Robot Operating System (ROS) and a … Procedures as a represen- tation for data in a computer program for understanding natural language, 1971.

Enhancing Object RecognitionBased on Contextual InformationUsing Markov Logic Networks
J Karlsson – 2016 – diva-portal.org
… formation extraction [31], and natural language understanding (both written and spoken) [32][33]. Coreference is when different sections of text refer to the same object or person. … [40]. The system was built with the ROS (Robot Operating System) framework [41]. …

Normalizing abstractions of heterogeneous robotic systems by using Roles: usability study in the administration of software and development tools
AE Cerón López, EF Fukushima, G Endo – Advanced Robotics, 2016 – Taylor & Francis
… Figure 2. Layers of the proposal and their pertinent concerns. (Section 4). They were selected due to their relevance in the robotics community: • Robot Operating System (ROS) [23]: Released in 2007 by Willow Garage, now maintained by the Open Source Robotics Foundation …

Lingodroids: Cross-situational learning for episodic elements
S Heath, D Ball, J Wiles – IEEE Transactions on Cognitive and …, 2016 – ieeexplore.ieee.org
… and time have strict physical definitions (that are mathematically related) [16], space and time are expressed differently in natural language [17]–[20]. … Again, like the real iRat, robot operating system (ROS), a robot middle-ware solution, was used to provide the same interface to …

Analogical generalization of actions from single exemplars in a robotic architecture
JR Wilson, E Krause, M Scheutz, M Rivers – Proceedings of the 2016 …, 2016 – dl.acm.org
… In addition to the DIARC cognitive architecture, we also use the Robot Operating System (ROS) to leverage existing low-level capabilities of this framework (eg, robot model, motion planning). In particular, we make heavy use of ROS MoveIt! …

Real-Time Safety-Assured Autonomous Aircraft
JT Chambers, ND Baltadjiev, RV Cowlagi – 17th AIAA/ISSMO …, 2016 – arc.aiaa.org
… The RTS3A OA layer will be developed using the open-source Robot Operating System (ROS) as the middleware.3 ROS will be the primary … and motion planner, the system has to be capable of accepting high-level mission requirements in a format similar to natural language. …

Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero
J Stückler, M Schwarz… – Frontiers in Robotics …, 2016 – pdfs.semanticscholar.org
Page 1. November 2016 | Volume 3 | Article 58 1 …

An Assurance-based Approach to Verification and Validation of Human–Robot Teams
M Webster, D Western, D Araiza-Illan, C Dixon… – arXiv preprint arXiv …, 2016 – arxiv.org
… (2014) used the SimTwo simulator in combination with the Robot Operating System (ROS)1 … are ambiguous in terms of how they are assessed over the avail- able system information, reflecting the generality of the standards and the shortfalls of using natural language when first …

Robot teams for intervention in confined and structured environments
D Tardioli, D Sicignano, L Riazuelo… – Journal of Field …, 2016 – Wiley Online Library
… Section ‘IMPLEMENTATION’ offers some implementation details using the robot operating system (ROS) framework. … This functionality allows missions to be described and executed more simply, in a more natural language, and without the need for large accurate preexisting …

Robotic systems architectures and programming
D Kortenkamp, R Simmons, D Brugali – Springer Handbook of Robotics, 2016 – Springer
… PTU pan–tilt unit. QOS quality of service. RAP reactive action package. RCS real-time control system. ROS robot operating system. RPC remote procedure call. RTI real-time innovation. RTS real-time system. RTT real-time toolkit. RWI real-world interface. SLICE …

US Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance 2014 Capstone Experiment
M Childers, C Lennon, B Bodt, J Pusey, S Hill… – 2016 – dtic.mil
… During the IRA5 timeframe there were also TBAs performed on natural language translation and the performance of … transport agnostic middleware, supporting multiple simultaneous protocols (eg., Joint Architecture for Unmanned Systems, Robot Operating System, and Neutral …

Context-aware sound event recognition for home service robots
HM Do, W Sheng, M Liu, S Zhang – Automation Science and …, 2016 – ieeexplore.ieee.org
… B. Robot Software The software for the robot was developed on ROS (Robot Operating System) [14] which was installed in the Ubuntu OS on the Intel NUC minicomputer. … 30–42, 2012. [7] CD Manning and H. Schütze, Foundations of statistical natural language processing. …

Grid-Based Representations in Mobile Robotics Using Multisensory Data
DM da Silva – 2016 – estudogeral.sib.uc.pt
… The implementations presented here have been developed on the Robot Operating System (ROS) software thus, it can be used in the large majority of robotic platforms. Keywords … planner/problem solver, natural language complexity of the environment) …

The conversational interface
M McTear, Z Callejas, D Griol – New York: Springer, 2016 – Springer
… 271 12.4 Statistical Approaches to Natural Language Generation. . . . . 272 12.5 Response Generation for Conversational Queries . . . . . … 303 13.9.10 The Robot Operating System (ROS). . . . 303 13.10 Summary . . . . . …

Improving object classification robustness in RGB-D using adaptive SVMs
JR Nuricumbo, H Ali, ZC Márton… – Multimedia Tools and …, 2016 – Springer
… domain applications. 2 Related work Domain adaptation has been successfully applied in natural language processing [4, 6, 7, 13], speech processing [23], computer vision [12, 14, 26, 30], and many other areas. However, not …

A compact task representation for hierarchical robot control
L Fraser, B Rekabdar, M Nicolescu… – … ), 2016 IEEE-RAS …, 2016 – ieeexplore.ieee.org
Page 1. A Compact Task Representation for Hierarchical Robot Control Luke Fraser ? , Banafsheh Rekabdar † , Monica Nicolescu ‡ , Mircea Nicolescu § , David Feil-Seifer ¶ and George Bebis Department of Computer Science …

Extending Time Until Failure During Leaking in Inflatable, Pneumatically Actuated Soft Robots
JP Wilson – 2016 – scholarsarchive.byu.edu
… the robots. Pressure readings are communicated to a PID pressure controller using the Robot Operating System (ROS). Commanded pressures for the actuation chambers are set by a model predictive controller (MPC) that receives …

Nonlinear controller synthesis and automatic workspace partitioning for reactive high-level behaviors
JA DeCastro, H Kress-Gazit – … of the 19th International Conference on …, 2016 – dl.acm.org
Page 1. Nonlinear Controller Synthesis and Automatic Workspace Partitioning for Reactive High-Level Behaviors Jonathan A. DeCastro Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca, NY, USA jad455@cornell.edu …

Monorail 2050: Transit Oriented Development (TOD)
J Martinez – aem.org
… State-of-the-Art Technology and Engineering 119 Components from the Robot Operating System (ROS) [6] will run on the … 1111 The IBM Watson API [10] will bring deep learning, natural language processing, and machine learning to the proposed system. …

Human-robot interaction and computer-vision-based services for autonomous robots
J Bautista Ballester – tdx.cat
… NIR Near InfraRed. 123, 125, 126, 132, 133, 137, 144 NL Natural Language. 108 NMEA National Marine Electronics Association. 125 … 42 ROI Region of Interest. 17 ROS Robot Operating System. 131, 154, 156 RTD Research, Technological Development and Innovation. …

Intelligent Control Agent for Autonomous UAS
S Tantrairatn – 2016 – etheses.whiterose.ac.uk
… 66 5.2.0.2 Natural Language Programming . . . . . … knowledge-based decision making for control agent on Jason. This devel- opment relies on natural language programming on sEnglish publication software. Finally, the thesis concludes with an outlook that discusses po- …

A social networking-enabled framework for autonomous robot skill development
WR Wang – 2016 – opus.lib.uts.edu.au
… Several attempts with dissimilar objectives have been made in this new field. There has been some projects on defining industry standards for the purpose of improving interoperability of hardware among robots, such as the open source Robot Operating System (ROS) [126]. …

Learning dynamic spatial relations
A Bihlmaier, Bihlmaier – 2016 – Springer
… 124 4 Modular Research Platform for Robot-Assisted Minimally-Invasive Surgery 127 4.1 The Robot Operating System (ROS) . . . . … RGB Red Green Blue. RGB-D Red Green Blue & Depth. ROS Robot Operating System. RPC Remote Procedure Call. RT Real-Time. …

Learning from natural human interactions for assistive robots
A Jain – 2016 – search.proquest.com
Learning from natural human interactions for assistive robots. Abstract. Leveraging human knowledge to train robots is a core problem in robotics. In the near future we will see humans interacting with agents such as, assistive robots, cars, smart houses, etc. …

Learning to detect visual grasp affordance
HO Song, M Fritz, D Goehring… – IEEE Transactions on …, 2016 – ieeexplore.ieee.org
… [1] Wilowgarage 3D Tabletop Object Detector. Tabletop Object Detector. Willow Garage, Robot Operating System, 2011. [Online]. Available: http://ros.org/wiki/tabletop_object_detector, , [2] J. Bohg and D. Kragic, “Learning grasping points with shape context,” Robot. Auton. …

Companion Robots Behaving with Style
M Chetouani – wafa.johal.fr
Page 1. THÈSE Pour obtenir le grade de DOCTEUR DE L’UNIVERSITÉ DE GRENOBLE Spécialité : Informatique Arrêté ministérial : 151 Présentée par Wafa BENKAOUAR JOHAL Thèse dirigée par Sylvie Pesty et codirigée par Gaëlle Calvary …

Developing an Autonomous Vehicle Control System for Intersections Using Obstacle/Blind Spot Detection Frames
M Yoshihira, S Watanabe, H Nishira, N Kishi – 2016 – papers.sae.org
… and used to understand a situation to help the processing of sensor signals[5] while referring to an Internet search engine or natural language processing. … The MAPPING and AMCL packages in the Robot Operating System (ROS) were used to calculate the AD vehicle’s location …

Designing a multi-agent framework for unmanned aerial/ground vehicles
WA Arokiasami – 2016 – search.proquest.com
Page 1. DESIGNING A MULTI-AGENT FRAMEWORK FOR UNMANNED AERIAL/GROUND VEHICLES WILLSON AMALRAJ AROKIASAMI (M.Sc, NUS) A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY …

Blood flow velocity for transcatheter aortic valve implantation microsurgery
GL MARTENA – 2016 – politesi.polimi.it
Page 1. POLITECNICO DI MILANO School of Industrial and Information Engineering Master’s Degree Course in Biomedical Engineering Master’s Degree Thesis in Biomedical Engineering Supervisor: Prof.ssa Signorini Maria Gabriella AA 2015-2016 …

Benchmarks for cloud robotics
AK Singh – 2016 – escholarship.org
… University of California, Berkeley Professor Pieter Abbeel, Chair Several areas of computer science, including computer vision and natural language processing, have witnessed rapid advances in performance, due in part to shared datasets and benchmarks. …

Defense science board summer study on autonomy
RA David, P Nielsen – 2016 – dtic.mil
Page 1. JUNE 2016 Page 2. ii Page 3. iii Report of the Defense Science Board Summer Study on Autonomy June 2016 Office of the Under Secretary of Defense for Acquisition, Technology and Logistics Washington, DC 20301-3140 Page 4. iv …

Learning from large-scale visual data for robots
O Sener – 2016 – search.proquest.com
… Recently, propelled by the available data and expressive models, many successful computer vision and natural language processing algorithms have emerged. However, we did not see a similar shift in robotics. … 30. 2.6 Grounding natural language sentence. The robot grounds. …

Deep Learning For Robotics
I Lenz – 2016 – ecommons.cornell.edu
Page 1. DEEP LEARNING FOR ROBOTICS A Dissertation Presented to the Faculty of the Graduate School of Cornell University in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy by Ian Nathaniel Lenz May 2016 Page 2. c 2016 Ian Nathaniel Lenz …

Stochastic Tree Search for Highly Coordinated Planning
B Kartal – 2016 – search.proquest.com
Stochastic Tree Search for Highly Coordinated Planning. Abstract. Coordination plays a key role in efficiently solving multi-agent problems such as exploration of unknown environments, search and rescue, and surveillance. …

Constraint-based Methods for Human-aware Planning
U Köckemann – 2016 – diva-portal.org
… It offers integration with the Robot Operating System (ROS)2. We provide some formal properties of the approach and a template for a complexity anal- ysis. … we present a series of use cases that we will use to show how we can move from a natural language specification of …

End user software product line support for smart spaces
V Tzeremes – 2016 – search.proquest.com
… 20. 2.4.2 Natural Language Processing (NLP) EUD Environments ….. 21. … The Robot Operating System (ROS) is a middleware for creating smart spaces through the use of service robots. The ROS architecture consists of nodes, messages, topics and services. …

Gaze Mechanisms for Situated Interaction with Embodied Agents
S Andrist – 2016 – search.proquest.com
… The system described in Chapter 6 was implemented on the Meka robot platform (Figure 1.1D). The Robot Operating System (ROS) was used to handle the execution and communication amongst each of the system components. …