Enhanced Robot Navigation in a Cyber-PhysicalSystem-of-Systems Architecture
- Autores: Alberto Tudela, José Galeas, Oscar Pons, Juan Pedro Bandera, Antonio Bandera
- Localización: Proceedings of the XXIV Workshop of Physical Agents: September 5-6, 2024 / coord. por Miguel Cazorla Quevedo, Francisco Gómez Donoso, Félix Escalona Moncholi, 2024, ISBN 978-84-09-63822-2, págs. 129-142
- Idioma: español
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Resumen
The idea of introducing a robot into an Ambient Assisted Living (AAL) environment to provide additional services to those provided by the environment itself has been exploited in numerous projects.
Moreover, new opportunities can arise from this symbiosis, which usually require both systems to share the knowledge (and not just the data) they capture from the context. Thus, using knowledge elaborated from the raw data captured by the sensors deployed in the environment, the robot can know where the person is, whether he/she should do some physical exercise, but also whether he/she should move a chair away to allow the robot to successfully complete a task. This paper describes how to extend the CORTEX software architecture to handle and merge, partially and task-specifically, the state representations built by the robot and the AAL system. In particular, we show how this symbiotic framework allows the robot to trace routes on a semantically annotated metric map updated with information obtained from sensors located in an AAL environment.
