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Communication Dans Un Congrès Année : 2018

UNDERWORLDS: Cascading Situation Assessment for Robots

Résumé

We introduce UNDERWORLDS, a novel lightweight framework for cascading spatio-temporal situation assessment in robotics. UNDERWORLDS allows programmers to represent the robot’s environment as real-time distributed data structures, containing both scene graphs (for representation of 3D geometries) and timelines (for representation of temporal events). UNDERWORLDS supports cascading representations: the environment is viewed as a set of worlds that can each have different spatial and temporal granularities, and may inherit from each other. UNDERWORLDS also provides a set of high-level client libraries and tools to introspect and manipulate the environment models. This article presents the design and architecture of this open-source tool, and explores some applications, along with examples of use.
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Dates et versions

hal-01943917 , version 1 (04-12-2018)

Identifiants

Citer

Séverin Lemaignan, Yoan Sallami, Christopher Wallbridge, Aurélie Clodic, Tony Belpaeme, et al.. UNDERWORLDS: Cascading Situation Assessment for Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Oct 2018, Madrid, Spain. ⟨10.1109/IROS.2018.8594094⟩. ⟨hal-01943917⟩
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