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Ongoing research projects
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AGILO - Semi-Automatic Acquisition of Visuomotoric Plans |
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| • http://ias.cs.tum.edu/projects/agilo/ |
Robotic soccer has become a standard 'real-world' testbed for
autonomous multi robot control. In robot soccer (mid-size league)
two teams of four autonomous robots --- one goal keeper and three
field players --- play soccer against each other. The soccer field
is four by nine meters big. The key characteristics of mid-size
robot soccer are that the robots are completely autonomous.
Consequently, all sensing and all action selection is done onboard
of the individual robots. Skillful play requires our robots to
recognize objects, such as other robots, field lines, and goals, and
even entire game situations.
In the AGILO project we
investigate how probabilistic visuomotoric autonomous robot
controllers that are capable of learning can meet these
challenges.
The AGILO robot controllers employ game
state estimation and situated action selection based on
automatically learned control mechanisms.
We are
currently rebuilding the AGILO team using Roboteq controllers.
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COGITO - Plan-based Control of Robotic Agents |
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A key challenge for the next generation of autonomous robots is the
reliable and efficient accomplishment of prolonged, complex, and
dynamically changing tasks in the real world.
One of the most promising approaches to realizing these capabilities
is the plan-based approach to robot control. In the plan-based
approach, robots produce control actions by generating, maintaining,
and executing plans that are tailored for the robots' respective
tasks. Plans are robot control programs that a robot can not only
execute but also reason about and manipulate. Thus a plan-based
controller is able to manage and adapt the robot's intended course
of action --- the plan --- while executing it and can thereby better
achieve complex and changing goals. The use of plans enables these
robots to flexibly interleave complex and interacting tasks, exploit
opportunities, quickly plan their courses of action, and, if
necessary, revise their intended activities.
One of the grand visions in the area of plan-based robot control is
the realization of general autonomous robot control programs that
can adapt themselves to the environments they are to operate in and
to the distribution of complex tasks they are to perform. An
instance of this grand vision is a pre-programmed household robot
that knows how to clean a kitchen, how to operate a dishwasher, and
so on. Being installed in a new environment it specializes its
general plans to the specifics of the household and learns to manage
the specific agenda of household chorus that is given to it. The
robot also has to learn about the pitfalls of its tasks and its
environment and avoid them through foresight. Our research field is
still far away from realizing such competent robotic agents.
I am currently working on machine learning/data mining techniques
which will be later integrated in the COGITO project.
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Past/finished researched projects
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| Please visit my personal web page for information about my "other" projects.
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