TY - JOUR
T1 - UNDERWORLDS: Cascading Situation Assessment for Robots
AU - Lemaignan, S
AU - Sallami, Y
AU - Wallhridge, C
AU - Clodic, A
AU - Belpaeme, T
AU - Alami, R
PY - 2019/1/7
Y1 - 2019/1/7
N2 - 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.
AB - 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.
UR - https://pearl.plymouth.ac.uk/context/secam-research/article/2261/viewcontent/lemaignan2018underworlds.pdf
U2 - 10.1109/iros.2018.8594094
DO - 10.1109/iros.2018.8594094
M3 - Conference proceedings published in a journal
VL - 0
JO - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
JF - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
IS - 0
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 1 October 2018 through 5 October 2018
ER -