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- ZeitschriftenartikelThe Role of Focus in Advanced Visual Interfaces(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Orlosky, Jason; Toyama, Takumi; Sonntag, Daniel; Kiyokawa, KiyoshiDeveloping more natural and intelligent interaction methods for head mounted displays (HMDs) has been an important goal in augmented reality for many years. Recently, small form factor eye tracking interfaces and wearable displays have become small enough to be used simultaneously and for extended periods of time. In this paper, we describe the combination of monocular HMDs and an eye tracking interface and show how they can be used to automatically reduce interaction requirements for displays with both single and multiple focal planes. We then present the results of preliminary and primary experiments which test the accuracy of eye tracking for a number of different displays such as Google Glass and Brother’s AiRScouter. Results show that our focal plane classification algorithm works with over 98 % accuracy for classifying the correct distance of virtual objects in our multi-focal plane display prototype and with over 90 % accuracy for classifying physical and virtual objects in commercial monocular displays. Additionally, we describe methodology for integrating our system into augmented reality applications and attentive interfaces.
- ZeitschriftenartikelLooking Back on 20 Years of RoboCup(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Ferrein, Alexander; Steinbauer, Gerald
- Zeitschriftenartikel20 Years of RoboCup(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Ferrein, Alexander; Steinbauer, GeraldThis summer, RoboCup competitions were held for the 20th time in Leipzig, Germany. It was the second time that RoboCup took place in Germany, 10 years after the 2006 RoboCup in Bremen. In this article, we give an overview on the latest developments of RoboCup and what happened in the different leagues over the last decade. With its 20th edition, RoboCup clearly is a success story and a role model for robotics competitions. From our personal view point, we acknowledge this by giving a retrospection about what makes RoboCup such a success.
- ZeitschriftenartikelFull-Body Motion Planning for Humanoid Robots using Rapidly Exploring Random Trees(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Baltes, Jacky; Bagot, Jonathan; Sadeghnejad, Soroush; Anderson, John; Hsu, Chen-HsienHumanoid robots with many degrees of freedom have an enormous range of possible motions. To be able to move in complex environments and dexterously manipulate objects, humanoid robots must be capable of creating and executing complex sequences of motions to accomplish their tasks. For soccer playing robots (e.g., the participants of RoboCup), the highly dynamic environment require real-time motion planning in spite of the enormous search space of possible motions. In this research, we propose a practical solution to the general movers problem in the context of motion planning for robots. The proposed robot motion planner uses a sample-based tree planner combined with an incremental simulator that models not only collisions, but also the dynamics of the motion. Thus it can ensure that the robot will be dynamically stable while executing the motion. The effectiveness of the robot motion planner is demonstrated both in simulation and on a real robot, using a variation of the Rapidly Exploring Random Tree (RRT) type of motion planner. The results of our empirical evaluation show that CONNECT works better than EXTEND versions of the RRT algorithms in simple domains, but that this advantage disappears in more obstacle-filled environments. The evaluation also shows that our motion planning system is able to find and execute complex motion plans for a small humanoid robot.
- ZeitschriftenartikelThe Interplay of Aldebaran and RoboCup(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Ferrein, Alexander; Steinbauer, Gerald
- ZeitschriftenartikelOn Cognitive Aspects of Human-Level Artificial Intelligence(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Besold, Tarek R.The PhD thesis 'On Cognitive Aspects of Human-Level Artificial Intelligence' summarises several connected lines of work from the field of human-level artificial intelligence (HLAI) research. Among others, complexity and approximation properties of the heuristic-driven theory projection analogy engine have been examined, and the framework has been applied to modelling tasks in cognitive psychology and the learning sciences. Additionally, the general importance and applicability of formal methods as potential guidance for research and development of systems in AI/HLAI has been outlined and exemplified. Finally, questions for the scientific status of AI/HLAI and for means of assessing or measuring progress in the field have been discussed.
- ZeitschriftenartikelAn Adaptive LIPM-based Dynamic Walk using Model Parameter Optimization on Humanoid Robots(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Seekircher, Andreas; Visser, UbboEven with the recent advances in the area of dynamic walking on humanoid robots there is still a significant amount of manual calibration required in practice due to the variances in the hardware. That is in order to achieve the performance needed in environments such as RoboCup. We present a LIPM-based closed-loop walk, that adapts to differences in the physical behavior of the robot by optimizing parameters of the model directly on the NAO while walking and executing other tasks. A significant amount of errors in the model predictions can be reduced without using a more complex model simply by adjusting the LIPM to fit the observed behavior. Our experiments show that the optimized model yields a more controlled, faster and even more energy-efficient walk on different NAO robots and on various surfaces without additional manual parameter tuning.
- ZeitschriftenartikelFrom RoboCup Rescue to Supervised Autonomous Mobile Robots for Remote Inspection of Industrial Plants(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Kohlbrecher, Stefan; Stryk, Oskar vonWith increasing capabilities and reliability of autonomous mobile robots, inspection of remote industrial plants in challenging environments becomes feasible. With the ARGOS challenge, oil and gas company TOTAL S.A. initiated an international competition aimed at the development of the first autonomous mobile robot which can safely operate in complete or supervised autonomy over the entire onshore or offshore production site, potentially in hazardous explosive atmospheres and harsh conditions. In this work, the approach of joint Austrian–German Team ARGONAUTS towards solving this challenge is introduced, focussing on autonomous capabilities. These build on functional components developed during prior participation in the RoboCup Rescue Robot League.
- ZeitschriftenartikelTowards Next Generation Sequential and Parallel SAT Solvers(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Manthey, Norbert
- Zeitschriftenartikel20 Years of RoboCup(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Visser, Ubbo