Christopher Wallhridge
UNDERWORLDS: Cascading situation assessment for robots
Wallhridge, Christopher; Lemaignan, Severin; Sallami, Yoan; Wallbridge, Christopher; Clodic, Aur�lie; Belpaeme, Tony; Alami, Rachid
Authors
Severin Lemaignan Severin.Lemaignan@uwe.ac.uk
Associate Professor in Social Robotics and AI
Yoan Sallami
Christopher Wallbridge
Aur�lie Clodic
Tony Belpaeme
Rachid Alami
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.
Citation
Wallhridge, C., Lemaignan, S., Sallami, Y., Wallbridge, C., Clodic, A., Belpaeme, T., & Alami, R. (2018). UNDERWORLDS: Cascading situation assessment for robots. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 7750-7757. https://doi.org/10.1109/IROS.2018.8594094
Journal Article Type | Conference Paper |
---|---|
Conference Name | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
Conference Location | Madrid, Spain |
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 |
Electronic ISSN | 2153-0866 |
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 |
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