MODEL BASED CONTINUAL PLANNING AND CONTROL FOR ASSISTIVE ROBOTS

A. Anier; J. Vain

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Paper

MODEL BASED CONTINUAL PLANNING AND CONTROL FOR ASSISTIVE ROBOTS

Topics: Cognitive Informatics; Development of Assistive Technology; Human-Machine Interfaces for Disabled Persons; Medical and Nursing Informatics

In Proceedings of the International Conference on Health Informatics - Volume 0BIOSTEC, 382-385, 2012 , Vilamoura, Algarve, Portugal

Authors: A. Anier and J. Vain

Affiliation: Tallinn University of Technogy, Estonia

Keyword(s): Model based control, Continual planning, Cognitive architecture, Online safety monitoring.

Related Ontology Subjects/Areas/Topics: Biomedical Engineering ; Cardiovascular Technologies ; Cognitive Informatics ; Computing and Telecommunications in Cardiology ; Development of Assistive Technology ; Health Engineering and Technology Applications ; Health Information Systems ; Human-Machine Interfaces for Disabled Persons ; Medical and Nursing Informatics

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.

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Paper citation in several formats:

Anier, A. and Vain, J. (2012). MODEL BASED CONTINUAL PLANNING AND CONTROL FOR ASSISTIVE ROBOTS. In Proceedings of the International Conference on Health Informatics (BIOSTEC 2012) - HEALTHINF; ISBN 978-989-8425-88-1; ISSN 2184-4305, SciTePress, pages 382-385. DOI: 10.5220/0003783503820385

@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 (BIOSTEC 2012) - HEALTHINF},
year={2012},
pages={382-385},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003783503820385},
isbn={978-989-8425-88-1},
issn={2184-4305},
}

TY - CONF

JO - Proceedings of the International Conference on Health Informatics (BIOSTEC 2012) - HEALTHINF
TI - MODEL BASED CONTINUAL PLANNING AND CONTROL FOR ASSISTIVE ROBOTS
SN - 978-989-8425-88-1
IS - 2184-4305
AU - Anier, A.
AU - Vain, J.
PY - 2012
SP - 382
EP - 385
DO - 10.5220/0003783503820385
PB - SciTePress