Contextual integration of heterogeneous data in an open and opportunistic smart environment : application to humanoid robots

Nathan Ramoly 1, 2
2 ACMES-SAMOVAR - Algorithmes, Composants, Modèles Et Services pour l'informatique répartie
SAMOVAR - Services répartis, Architectures, MOdélisation, Validation, Administration des Réseaux
Abstract : Personal robots associated with ambient intelligence are an upcoming solution for domestic care. In fact, helped with devices dispatched in the environment, robots could provide a better care to users. However, such robots are encountering challenges of perception, cognition and action.In fact, such an association brings issues of variety, data quality and conflicts, leading to the heterogeneity and uncertainty of data. These are challenges for both perception, i.e. context acquisition, and cognition, i.e. reasoning and decision making. With the knowledge of the context, the robot can intervene through actions. However, it may encounter task failures due to a lack of knowledge or context changes. This causes the robot to cancel or delay its agenda. While the literature addresses those topics, it fails to provide complete solutions. In this thesis, we proposed contributions, exploring both reasoning and learning approaches, to cover the whole spectrum of problems. First, we designed novel context acquisition tool that supports and models uncertainty of data. Secondly, we proposed a cognition technique that detects anomalous situation over uncertain data and takes a decision in accordance. Then, we proposed a dynamic planner that takes into consideration the last context changes. Finally, we designed an experience-based reinforcement learning approach to proactively avoid failures.All our contributions were implemented and validated through simulations and/or with a small robot in a smart home platform
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Nathan Ramoly. Contextual integration of heterogeneous data in an open and opportunistic smart environment : application to humanoid robots. Robotics [cs.RO]. Université Paris-Saclay, 2018. English. ⟨NNT : 2018SACLL003⟩. ⟨tel-01848765⟩

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