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RoboEarth: Knowledge-exchange between robots

The RoboEarth project targets at building a “World Wide Web for Robots” and covers different aspects like the generation and execution of task descriptions, sensing, learning, a central web knowledge base; TUM is responsible for developing methods for representing and reasoning about the exchanged knowledge.

The central RoboEarth knowledge base contains descriptions of actions (called “action recipes”), objects, and environments. These pieces of information have been created by different robots with different sensing, acting and processing capabilities. Therefore, all of them have different requirements on capabilities a robot must have in order to use them. The developed language thus provides methods for matching these required capabilities against those available on the robot. Each robot has a self-model consisting of a description of its kinematic structure, including the positions of sensors and actuators, a semantic model that describes the meaning of the robot's parts (e.g. that certain joints form a gripper), and a set of software components like object recognition systems. We developed the Semantic Robot Description Language to describe these components and the capabilities they provide, and to match them to the requirements specified for action recipes.

More information can be found on the RoboEarth project homepage.

Acknowledgements

This project has received funding from the European Union Seventh Framework Programme FP7/2007-2013 under grant agreement number 248942 RoboEarth.

Publications

Journal Articles and Book Chapters

Representation and Exchange of Knowledge about Actions, Objects, and Environments in the RoboEarth Framework (Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz), In IEEE Transactions on Automation Science and Engineering (T-ASE), 2013. (Accepted for publication.) [bib]
RoboEarth - A World Wide Web for Robots (Markus Waibel, Michael Beetz, Raffaello D'Andrea, Rob Janssen, Moritz Tenorth, Javier Civera, Jos Elfring, Dorian Gálvez-López, Kai Häussermann, J.M.M. Montiel, Alexander Perzylo, Björn Schießle, Oliver Zweigle, René van de Molengraft), In Robotics & Automation Magazine, IEEE, volume 18, 2011. [bib]

Conference Papers

Learning Probability Distributions over Partially-Ordered Human Everyday Activities (Moritz Tenorth, Fernando De la Torre, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2013. (Accepted for publication.) [bib]
Knowledge Processing for Autonomous Robot Control (Moritz Tenorth, Michael Beetz), In AAAI Spring Symposium on Designing Intelligent Robots: Reintegrating AI, 2012. [bib] [pdf]
The RoboEarth language: Representing and Exchanging Knowledge about Actions, Objects, and Environments (Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2012. (Best Cognitive Robotics Paper Award.) [bib] [pdf]
A Unified Representation for Reasoning about Robot Actions, Processes, and their Effects on Objects (Moritz Tenorth, Michael Beetz), In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [bib] [pdf]
RoboEarth Action Recipe Execution (Daniel di Marco, Moritz Tenorth, Kai Häussermann, Oliver Zweigle, Paul Levi), In 12th International Conference on Intelligent Autonomous Systems, 2012. [bib] [pdf]
Exchange of Action-related Information among Autonomous Robots (Moritz Tenorth, Michael Beetz), In 12th International Conference on Intelligent Autonomous Systems, 2012. [bib] [pdf]
Semantic Object Maps for Household Tasks (Michael Beetz, Moritz Tenorth, Dejan Pangercic, Benjamin Pitzer), In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf]
CRAM -- a Cognitive Robot Abstract Machine (Michael Beetz, Lorenz Mösenlechner, Moritz Tenorth, Thomas Rühr), In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf]
Towards Semantic Robot Description Languages (Lars Kunze, Tobias Roehm, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2011. [bib] [pdf]

Workshop Papers

Towards a Networked Robot Architecture\\ for Distributed Task Execution and Knowledge Exchange (Moritz Tenorth, Koji Kamei, Satoru Satake, Takahiro Miyashita, Norihiro Hagita), In Third International Workshop on Standards and Common Platforms for Robotics (SCPR 2012), in conjunction with SIMPAR 2012, 2012. [bib] [pdf]

Other Publications

Creating and using RoboEarth object models (Daniel Di Marco, Andreas Koch, Oliver Zweigle, Kai Häussermann, Björn Schieß le, Paul Levi, Dorian Galvez Lopez, Luis Riazuelo, Javier Civera, J.M.M Montiel, Moritz Tenorth, Alexander Clifford Perzylo, Markus Waibel, Marinus Jacobus Gerardus van de Molengraft), IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib]
Knowledge Processing for Autonomous Robots (Moritz Tenorth), PhD thesis, Technische Universität München, 2011. [bib]
Deliverable D5.2: The RoboEarth Language -- Language Specification (Moritz Tenorth, Michael Beetz), Technical report, FP7-ICT-248942 RoboEarth, 2010. [bib]
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Last edited 01.08.2011 14:46 by tenorth