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Context Aware Robot Architecture, Application to the RoboCup@Home Challenge

Fabrice Jumel 1, 2, 3 Jacques Saraydaryan 1, 2, 3 Raphael Leber 2 Laëtitia Matignon 1, 3, 4 Eric Lombardi 5 Christian Wolf 5, 1, 3 Olivier Simonin 1, 3, 6 
1 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
Inria Grenoble - Rhône-Alpes, CITI - CITI Centre of Innovation in Telecommunications and Integration of services
4 SyCoSMA - Systèmes Cognitifs et Systèmes Multi-Agents
LIRIS - Laboratoire d'InfoRmatique en Image et Systèmes d'information
5 imagine - Extraction de Caractéristiques et Identification
LIRIS - Laboratoire d'InfoRmatique en Image et Systèmes d'information
Abstract : This paper presents an architecture dedicated to the orchestration of high level abilities of a humanoid robot, such as a Pepper, which must perform some tasks as the ones proposed in the RoboCup@Home competition. We present the main abilities that a humanoid service robot should provide. We choose to build them based on recent methodologies linked to social navigation and deep learning. We detail the architecture, on how high level abilities are connected with low level sub-functions. Finally we present first experimental results with a Pepper humanoid.
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https://hal.archives-ouvertes.fr/hal-01832613
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Submitted on : Sunday, July 8, 2018 - 11:25:37 AM
Last modification on : Thursday, September 22, 2022 - 4:26:10 PM
Long-term archiving on: : Tuesday, October 2, 2018 - 7:08:19 AM

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Fabrice Jumel, Jacques Saraydaryan, Raphael Leber, Laëtitia Matignon, Eric Lombardi, et al.. Context Aware Robot Architecture, Application to the RoboCup@Home Challenge. RoboCup symposium, Jun 2018, Montreal, Canada. pp.1-12, ⟨10.1007/978-3-030-27544-0_17⟩. ⟨hal-01832613⟩

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