UNDERWORLDS: Cascading situation assessment for robots

Wallhridge, Christopher; Lemaignan, Severin; Sallami, Yoan; Wallbridge, Christopher; Clodic, Aur�lie; Belpaeme, Tony; Alami, Rachid

Abstract

© 2018 IEEE. We introduce UNDERWORLDS, a novel lightweight framework for cascading spatio-temporal situation assessment in robotics. UNDERWORLDS allows programmers to represent the robot's environment as real-time distributed data structures, containing both scene graphs (for representation of 3D geometries) and timelines (for representation of temporal events). UNDERWORLDS supports cascading representations: the environment is viewed as a set of worlds that can each have different spatial and temporal granularities, and may inherit from each other. UNDERWORLDS also provides a set of high-level client libraries and tools to introspect and manipulate the environment models. This article presents the design and architecture of this open-source tool, and explores some applications, along with examples of use.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• Acceptance Date: Jun 1, 2018
• Online Publication Date: Jan 7, 2019
• Publication Date: Dec 27, 2018
• Deposit Date: Nov 26, 2019
• Journal: IEEE International Conference on Intelligent Robots and Systems
• Print ISSN: 2153-0858
• Pages: 7750-7757
• Series ISSN: 2153-0866
• ISBN: 9781538680940
• DOI: https://doi.org/10.1109/IROS.2018.8594094
• Public URL: https://uwe-repository.worktribe.com/output/4742978