UNDERWORLDS: Cascading Situation Assessment for Robots

S Lemaignan; Y Sallami; C Wallhridge; A Clodic; T Belpaeme; R Alami

doi:10.1109/iros.2018.8594094

UNDERWORLDS: Cascading Situation Assessment for Robots

S Lemaignan, Y Sallami, C Wallhridge, A Clodic, T Belpaeme, R Alami

School of Engineering, Computing and Mathematics

Research output: Contribution to journal › Conference proceedings published in a journal › peer-review

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Abstract

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.

Original language	English
Number of pages	0
Journal	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume	0
Issue number	0
DOIs	https://doi.org/10.1109/iros.2018.8594094
Publication status	Published - 7 Jan 2019
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Duration: 1 Oct 2018 → 5 Oct 2018

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Lemaignan2018underworlds

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title = "UNDERWORLDS: Cascading Situation Assessment for Robots",

abstract = "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.",

author = "S Lemaignan and Y Sallami and C Wallhridge and A Clodic and T Belpaeme and R Alami",

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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.

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 -

UNDERWORLDS: Cascading Situation Assessment for Robots

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