Istituto di Scienza e Tecnologie dell'Informazione     
Amato G., Bacciu D., Broxvall M., Chessa S., Coleman S., Di Rocco M., Dragone M., Gallicchio C., Gennaro C., Lozano H., McGinnity T. M., Micheli A., Ray A., Renteria A., Saffiotti A., Swords D., Vairo C., Vance P. Robotic ubiquitous cognitive ecology for smart homes. In: Journal of Intelligent & Robotic Systems, vol. 80 Supplement 1 pp. 57 - 81. Springer, 2015. [Online First 01 February 2015]
Robotic ecologies are networks of hetero- geneous robotic devices pervasively embedded in everyday environments, where they cooperate to per- form complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learn- ing solutions which yield cheaper, adaptive and effi- cient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent-based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a proof of concept smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremen- tal and progressive approach driven by the feedback received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional com- ponents in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work.
URL: http://link.springer.com/article/10.1007/s10846-015-0178-2#
DOI: 10.1007/s10846-015-0178-2
Subject Robotic ecology
Networked robotics
Ambient assisted living
Cognitive robotics
Wireless sensor and actuator networks
Home automation
Activity recognition
Activity discovery
I.2.9 Robotics

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