Architectures Dynamiques Reconfigurables pour Systèmes Embarqués Autonomes Mobiles

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2 The ADREAM project Architectures Dynamiques Reconfigurables pour Systèmes Embarqués Autonomes Mobiles Reconfigurable and Dynamic Architectures for Mobile Autonomous Embedded Systems

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6 A group of service robots Several semi-autonomous wheelchairs A team of cleaning robots Several assistive or companion robots

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15 An Autonomous Interactive Robot guide Robot Searches for interaction when left alone Establishes a common task Programming a H/R task involving several perception and interaction modalities Abandons mission if guided person stops following Rackham at «Cité de l Espace»:

16 Participating labs: LAAS, Toulouse EPFL, Lausanne IPA, Stuttgart KTH, Stockholm U. Karlsruhe U. Bielefeld U. Hertfordshire U. Amsterdam VU. Brussels Funded by the EU FP6 -IST- FET Beyond Robotics Program

17 aims developing key components of the next generation of robots, including industrial robots and assist devices (robots of non-industrial applications, e.g. for service, health-care, and entertainment), designed to share the environment and to physically interact with people.

18 No human aware motion Human aware motion with 2 motion tasks: Follow the object path Look to the object

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20 Étude et development d'un manipulateur mobile à deux bras pour l'assistance aux personnes handicapées. LAAS LIRMM Montpellier LISIF Ivry sur seine CEA-LIST Clinique Union Mutualiste PROPARA développement d'un robot mobile autonome équipé de deux bras manipulateurs, système de vision porter assistance à des personnes handicapées tâches quotidiennes de manipulation : - Servir un verre d'eau - Ramasser un objet Identification du besoin, validation

21 Designing and developing a network of robots that in a cooperative way interact with human beings and the environment for tasks of guidance and assistance, transportation of goods and persons, and surveillance in urban areas

22 URUS Global Architecture Robot 1 Functional Layer Supervisor / Task Allocation URUS Wireless network Robot n Functional Layer Supervisor / Task Allocation GSM Network Central Station GSM Interface Environment Perception Task Allocation Human Supervision Ethernet ad-hoc Manet for local /realtime needs (formation..)

23 Two methods integrated on FZI and LAAS robots for RFID-based navigation in a structured environment Ground-merged short range RFID-barriers: topological localization between areas Long range RFIDs in the environment: metrical localization from directional antennas The FZI and LAAS robots equipped with RFID readers

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25 Embedded Systems Control Architectures for Multi-robot Cooperation Cooperative Multi-Agent Systems Distributed Robotic Functions Distributed Autonomous Self- Adaptive Systems Model Based Adaptability Management Aerial and Terrestrial Multi-Robot Platform

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27 Decisional Level Procedural Executive (open-prs) Temporal Planner Temporal Executive (IxTeT) cooperation Decisional Level Procedural Executive (open-prs) Temporal Planner Temporal Executive (IxTeT) Execution Control Level Execution Controller coordination Execution Control Level Execution Controller Functional Level Functional Level DEM Scorrel Env Im. St. NAV Goal VME Pos P3D Speed Communication NDD Speed Aspect Obs distributed task achievement Target Pos POM Pos Pos NAV Formation Speed POM Pos Science Camera Im. Pan-Tilt Unit Pos RFLEX Laser RF Scan Pan-Tilt Camera Im. Communication Pos Pilote Unit

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29 Visual-based navigation taking into account obstacles, occlusions, saturations, humanrobot joint motions Methods: task function framework, integration control-tracking, multicriteria analysis and synthesis of visual servos

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31 Capture de mouvement humain par vision binoculaire Estimation des ddls pour interprétation de postures

32 A Control Architecture for a Cognitive Assistant SHARY: Supervision for a Cognitive Assistant Human Aware Task Planning Human Aware Navigation Attention Sharing Human Aware Manipulation Perspective Taking Soft Motion

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35 Sensors and devices Fixed cameras Environment sensors Physiological data Interface devices and things

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