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Auflistung nach Autor:in "Piazza, Enrico"

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  • Zeitschriftenartikel
    Benchmarking Functionalities of Domestic Service Robots Through Scientific Competitions
    (KI - Künstliche Intelligenz: Vol. 33, No. 4, 2019) Basiri, Meysam; Piazza, Enrico; Matteucci, Matteo; Lima, Pedro
    Benchmarking via carefully designed competitions makes it possible to provide a common framework for the rigorous comparison of intelligent and autonomous systems; competitions may play the role of scientific experiments while being appealing both to researchers and to the general public thus promoting critical analysis of systems outside the labs. This paper describes our approach to benchmarking domestic service robots through organizing recurrent competitions under the European Robotics League. It details the tools and benchmarks designed to evaluate the performance of robots at task and functionality levels. In particular, the functionality benchmarks for object perception and navigation are described and an overview of the new benchmarks to appear in the league is presented.
  • Zeitschriftenartikel
    SocRob@Home
    (KI - Künstliche Intelligenz: Vol. 33, No. 4, 2019) Lima, Pedro U.; Azevedo, Carlos; Brzozowska, Emilia; Cartucho, João; Dias, Tiago J.; Gonçalves, João; Kinarullathil, Mithun; Lawless, Guilherme; Lima, Oscar; Luz, Rute; Miraldo, Pedro; Piazza, Enrico; Silva, Miguel; Veiga, Tiago; Ventura, Rodrigo
    This paper describes the SocRob@Home robot system, consisting of a mobile robot (MBOT) equipped with several sensors and actuators, including a manipulator arm, and several software modules that provide the skills and capability to perform domestic tasks while interacting with humans in a domestic environment. We describe the whole system holistically, explaining how it integrates the contributing modules, and then we focus on the most relevant sub-systems, pointing out the original contributions of our research and development on the system in the last 5 years. The robot system includes metric and semantic mapping, several navigation modes (way-point navigation, person following and multi-sensor obstacle detection and avoidance), vision-based object detection, recognition, servoing and grasping, speech understanding, task planning and task execution. The robot system is mostly activated by speech commands from a human, and these commands, after being interpreted, are executed by the robot sub-systems, coordinated by a task executor. Lessons learned during the development and use of this system, which are useful as guidelines for the development of similar robot systems, are provided. MBOT’s performance is assessed using the task benchmarks scoring system of the European Robotics League competitions on Consumer Service robots.