Safe Adaptation for Long Term Autonomy and Human-Robot Interaction
To achieve autonomy in unstructured environments while interacting with humans, robots need to be able to adapt to different operational conditions, face unexpected situations and guarantee safety.
These challenges are tackled by the HE projects SestoSenso (http://sestosenso.eu/) and CONVINCE (https://convince-project.eu/), although from different perspectives. Sestosenso proposes a new sensing technology, cognitive perception and control algorithms based on proximity and tactile sensors for safe autonomy and interaction. CONVINCE, on the other hand, proposes a deliberation layer able to detect unexpected situations and deploy contingency actions to guarantee safe operation.
The goal of this workshop is to disseminate the aims and challenges of the projects showcase the initial results of their activities, discuss common challenges and find potential synergies between the projects.
The workshop will be held on March 15, 8:30-9:50. It will be followed by an insight session on the same day at 11:40-13.
During the workshop speakers from the CONVINCE and SestoSenso projects will illustrate the projects goals and methodology, and the challenges addressed in the use cases, followed by an open discussion on the challenges identified below.
The insight session will be an opportunity to discuss more in details the research challenges that need to be addressed to advance robot abilities to adapt to the environment, remain operational without human intervention while preserving safe behavior. The program of the insight session is reported below.
Challenges
In this workshop, we will investigate the problem of operating robotic agents in partially or totally unmodeled environments considering both reactive and deliberative frameworks.
In more details, the workshop will address the following fundamental questions:
I
Is it possible to develop systems that optimize effectiveness in human robot interaction while adhering to safety constraints?
II
What are the challenges on the adoption of formal methods for the verification of robot behaviors?
III
What are the potential benefits of proxy-tactile sensing for manipulation tasks in complex unstructured environments?
Workshop Invited Speakers
Confirmed speakers are listed below:
Jelizaveta Konstantinova
OCADO Technology
Razane Azrou
CEA (Commissariat à l'Énergie Atomique et aux Énergies Alternatives)
Michaela Klauck
Robert Bosch GmbH
Marco Camurri
University of Bolzano
Massimo Di Pardo
Centro Ricerche Fiat (CRF)
Giorgio Cannata
University of Genova
Lorenzo Natale
Istituto Italiano di Tecnologia
Insight Session Format
The insight session will be organized with a series of spotlight presentations of 4 minutes each, followed by a poster session. The list of contributions is reported here:
Challenges in situation understanding and scene
perception
Razane Azrou, Selma Kchir, Raphaël Lallement and Matteo Morelli
Modeling Robot Control Architectures
for Verification and Monitoring
Stefano Bernagozzi, Angelo Ferrando, Enrico Ghiorzi, Lorenzo Natale,
and Armando Tacchella
Intuitive Telemanipulation of DLOs Via
Vision-Based Shared Control: A Pilot Study
Davide Chiaravalli, Alessio Caporali, Anna Friz, Roberto Meattini
and Gianluca Palli
Sparse optical sampling in the close proximity of a robotic arm
Martin Laurenzis, Ante Maric, Emmanuel Bacher , Mateusz Pietrzak,
Stephane Schertzer, Francesco Grella and Sylvain Calinon
The CONVINCE Perspective on Task and
Motion Planning in Dynamic Environments
Masoumeh Mansouri, Charlie Street, and Yassin Warsame
Towards Collaborative Grape Harvesting with a
Mobile Manipulator
Edwin Pircher, Giovanni Carabin, Marco Camurri, and Renato Vidoni
Reflective Understanding for Dependable Robots
Extended abstract
Ricardo Sanz
