MODEL BASED CONTINUAL PLANNING AND CONTROL FOR ASSISTIVE ROBOTS

A. Anier, J. Vain

Abstract

The paper presents a model-based robot planning and control framework for human assistive robots - namely for Scrub Nurse Robots. We focus on endoscopic surgery as one of the most relevant surgery type for applying robot assistants. We demonstrate that our framework provides means for seamless integration of sensor data capture, cognitive functions for interpretation of sensor data, model based continual planning and actuation control. The novel component of the architecture is a distributed continual planning system implemented based on the Uppaal timed automata model-based verification and control tool suite. The distributed and modular architecture of the framework enables flexible online reconfiguration and easy adaptability to various application contexts. Online learning and safety monitoring functions ensure timely and safe updates of software components on-the-fly.

References

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Paper Citation


in Harvard Style

Anier A. and Vain J. (2012). MODEL BASED CONTINUAL PLANNING AND CONTROL FOR ASSISTIVE ROBOTS . In Proceedings of the International Conference on Health Informatics - Volume 1: HEALTHINF, (BIOSTEC 2012) ISBN 978-989-8425-88-1, pages 382-385. DOI: 10.5220/0003783503820385


in Bibtex Style

@conference{healthinf12,
author={A. Anier and J. Vain},
title={MODEL BASED CONTINUAL PLANNING AND CONTROL FOR ASSISTIVE ROBOTS},
booktitle={Proceedings of the International Conference on Health Informatics - Volume 1: HEALTHINF, (BIOSTEC 2012)},
year={2012},
pages={382-385},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003783503820385},
isbn={978-989-8425-88-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Health Informatics - Volume 1: HEALTHINF, (BIOSTEC 2012)
TI - MODEL BASED CONTINUAL PLANNING AND CONTROL FOR ASSISTIVE ROBOTS
SN - 978-989-8425-88-1
AU - Anier A.
AU - Vain J.
PY - 2012
SP - 382
EP - 385
DO - 10.5220/0003783503820385