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From perception to action and vice versa: A new architecture showing how perception and action can modulate each other simultaneously

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dc.affiliation.dptoUC3M. Departamento de Informáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Planificación y Aprendizajees
dc.contributor.authorPalomino, Antonio Jesús
dc.contributor.authorGarcía Olaya, Ángel
dc.contributor.authorFernández Rebollo, Fernando
dc.contributor.authorBandera, Juan Pedro
dc.date.accessioned2015-11-19T10:23:18Z
dc.date.available2015-11-19T10:23:18Z
dc.date.issued2013-09
dc.descriptionThe proceeding at: 6th European Conference on Mobile Robots.Took place in September 25-27, 2013, in Barcelona, Spain.en
dc.description.abstractArtificial vision systems can not process all the information that they receive from the world in real time because it is highly expensive and inefficient in terms of computational cost. However, inspired by biological perception systems, it is possible to develop an artificial attention model able to select only the relevant part of the scene, as human vision does. From the Automated Planning point of view, a relevant area can be seen as an area where the objects involved in the execution of a plan are located. Thus, the planning system should guide the attention model to track relevant objects. But, at the same time, the perceived objects may constrain or provide new information that could suggest the modification of a current plan. Therefore, a plan that is being executed should be adapted or recomputed taking into account actual information perceived from the world. In this work, we introduce an architecture that creates a symbiosis between the planning and the attention modules of a robotic system, linking visual features with high level behaviours. The architecture is based on the interaction of an oversubscription planner, that produces plans constrained by the information perceived from the vision system, and an object-based attention system, able to focus on the relevant objects of the plan being executed.en
dc.description.sponsorshipThis work has been partially granted by the Spanish Ministerio de Economía y Competitividad (MINECO) projects no. TIN2008-06196, TIN2012-38079-C03-03 and TIN2012-38079-C03-02. It has been also granted by Universidad de Málaga, International Campus of Excellence Andalucía Tech.en
dc.description.statusPublicado
dc.format.extent6
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitation2013 European Conference on Mobile Robots. Pp. 268-273en
dc.identifier.doi10.1109/ECMR.2013.6698853
dc.identifier.isbn978-1-4799-0263-7
dc.identifier.publicationfirstpage268
dc.identifier.publicationlastpage273
dc.identifier.publicationtitle2013 European Conference on Mobile Robotsen
dc.identifier.urihttps://hdl.handle.net/10016/22033
dc.identifier.uxxiCC/0000023330
dc.language.isoeng
dc.publisherIEEE - The Institute of Electrical and Electronics Engineers, Incen
dc.relation.eventdate2013, September, 25-27en
dc.relation.eventnumber6
dc.relation.eventplaceBarcelona (Spain)en
dc.relation.eventtitleEuropean Conference on Mobile Robotsen
dc.relation.projectIDGobierno de España.TIN2012-38079-C03-02es
dc.relation.projectIDGobierno de España.TIN2012-38079-C03-03es
dc.relation.projectIDGobierno de España.TIN2008-06196es
dc.relation.publisherversionhttp://dx.doi.org/10.1109/ECMR.2013.6698853
dc.rights©2013 IEEEen
dc.rights.accessRightsopen access
dc.subject.ecienciaInformáticaes
dc.subject.ecienciaIngeniería Industriales
dc.subject.otherIntelligent robotsen
dc.subject.otherMobile robotsen
dc.subject.otherObject trackingpathen
dc.subject.otherRobot visionen
dc.subject.otherColoren
dc.subject.otherComputational modelingen
dc.subject.otherComputer architectureen
dc.subject.otherImage color analysisen
dc.subject.otherPlanningen
dc.subject.otherRobotsen
dc.subject.otherVisualizationen
dc.titleFrom perception to action and vice versa: A new architecture showing how perception and action can modulate each other simultaneouslyen
dc.typeconference paper*
dc.type.hasVersionAM*
dspace.entity.typePublication
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