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EPFL

1. Magnenat, Stéphane. Software integration in mobile robotics, a science to scale up machine intelligence.

Degree: 2010, EPFL

The present work tackles integration in mobile robotics. Integration is often considered to be a mere technique, unworthy of scientific investigation. On the contrary, we show that integrating capabilities in a mobile robot entails new questions that the parts alone do not feature. These questions reflect the structure of the application and the physics of the world. We also show that a successful integration process transforms the parts themselves and allows to scale up mobile-robot intelligence in real-world applications. In Chapter 2 we present the hardware. In Chapter 3, we show that building a low-level control architecture considering the mechanic and electronic reality of the robot improves the performances and allows to integrate a large number of sensors and actuators. In Chapter 4, we show that globally optimising mechatronic parameters considering the robot as a whole allows to implement slam using an inexpensive sensor with a low processor load. In Chapter 5, we show that based on the output from the slam algorithm, we can combine infrared proximity sensors and vision to detect objects and to build a semantic map of the environment. We show how to find free paths for the robot and how to create a dual geometric-symbolic representation of the world. In Chapter 6, we show that the nature of scenarios influences the implementation of a task-planning algorithm and changes its execution properties. All these chapters contribute results that together prove that integration is a science. In Chapter 7, we show that combining these results improves the state of the art in a difficult application : autonomous construction in unknown environments with scarce resources. This application is interesting because it is challenging at multiple levels : For low-level control, manipulating objects in the real world to build structures is difficult. At the level of perceptions, the fusion of multiple heterogeneous inexpensive sensors is not trivial, because these sensors are noisy and the noise is non-Gaussian. At the level of cognition, reasoning about elements from an unknown world in real time on a miniature robot is demanding. Building this application upon our other results proves that integration allows to scale up machine intelligence, because this application shows intelligence that is beyond the state of the art, still only combining basic components that are individually slightly behind the state of the art. Advisors/Committee Members: Mondada, Francesco.

Subjects/Keywords: miniature mobile robot; integration; machine intelligence; scalability; event-based architecture; SLAM; symbol grounding; HTN planning; autonomous construction; scarce resources; design methodology; robot mobile miniature; intégration; intelligence machine; extensibilité; architecture basée sur des événements; SLAM; ancrage de symboles; planification HTN; construction autonome; ressources rares; méthodologie de conception

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Magnenat, S. (2010). Software integration in mobile robotics, a science to scale up machine intelligence. (Thesis). EPFL. Retrieved from http://infoscience.epfl.ch/record/149392

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Magnenat, Stéphane. “Software integration in mobile robotics, a science to scale up machine intelligence.” 2010. Thesis, EPFL. Accessed December 11, 2019. http://infoscience.epfl.ch/record/149392.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Magnenat, Stéphane. “Software integration in mobile robotics, a science to scale up machine intelligence.” 2010. Web. 11 Dec 2019.

Vancouver:

Magnenat S. Software integration in mobile robotics, a science to scale up machine intelligence. [Internet] [Thesis]. EPFL; 2010. [cited 2019 Dec 11]. Available from: http://infoscience.epfl.ch/record/149392.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Magnenat S. Software integration in mobile robotics, a science to scale up machine intelligence. [Thesis]. EPFL; 2010. Available from: http://infoscience.epfl.ch/record/149392

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

2. Mangin, Olivier. Emergence de concepts multimodaux : de la perception de mouvements primitifs à l'ancrage de mots acoustiques : The Emergence of Multimodal Concepts : From Perceptual Motion Primitives to Grounded Acoustic Words.

Degree: Docteur es, Informatique, 2014, Bordeaux

Cette thèse considère l'apprentissage de motifs récurrents dans la perception multimodale. Elle s'attache à développer des modèles robotiques de ces facultés telles qu'observées chez l'enfant, et elle s'inscrit en cela dans le domaine de la robotique développementale.Elle s'articule plus précisément autour de deux thèmes principaux qui sont d'une part la capacité d'enfants ou de robots à imiter et à comprendre le comportement d'humains, et d'autre part l'acquisition du langage. A leur intersection, nous examinons la question de la découverte par un agent en développement d'un répertoire de motifs primitifs dans son flux perceptuel. Nous spécifions ce problème et établissons son lien avec ceux de l'indétermination de la traduction décrit par Quine et de la séparation aveugle de source tels qu'étudiés en acoustique.Nous en étudions successivement quatre sous-problèmes et formulons une définition expérimentale de chacun. Des modèles d'agents résolvant ces problèmes sont également décrits et testés. Ils s'appuient particulièrement sur des techniques dites de sacs de mots, de factorisation de matrices et d'apprentissage par renforcement inverse. Nous approfondissons séparément les trois problèmes de l'apprentissage de sons élémentaires tels les phonèmes ou les mots, de mouvements basiques de danse et d'objectifs primaires composant des tâches motrices complexes. Pour finir nous étudions le problème de l'apprentissage d'éléments primitifs multimodaux, ce qui revient à résoudre simultanément plusieurs des problèmes précédents. Nous expliquons notamment en quoi cela fournit un modèle de l'ancrage de mots acoustiques

This thesis focuses on learning recurring patterns in multimodal perception. For that purpose it develops cognitive systems that model the mechanisms providing such capabilities to infants; a methodology that fits into thefield of developmental robotics.More precisely, this thesis revolves around two main topics that are, on the one hand the ability of infants or robots to imitate and understand human behaviors, and on the other the acquisition of language. At the crossing of these topics, we study the question of the how a developmental cognitive agent can discover a dictionary of primitive patterns from its multimodal perceptual flow. We specify this problem and formulate its links with Quine's indetermination of translation and blind source separation, as studied in acoustics.We sequentially study four sub-problems and provide an experimental formulation of each of them. We then describe and test computational models of agents solving these problems. They are particularly based on bag-of-words techniques, matrix factorization algorithms, and inverse reinforcement learning approaches. We first go in depth into the three separate problems of learning primitive sounds, such as phonemes or words, learning primitive dance motions, and learning primitive objective that compose complex tasks. Finally we study the problem of learning multimodal primitive patterns, which corresponds to solve simultaneously several…

Advisors/Committee Members: Oudeyer, Pierre-Yves (thesis director).

Subjects/Keywords: Apprentissage multimodal; Acquisition du langage; Ancrage de symboles; Apprentissage de concepts; Compréhension de comportement humains; Décomposition du mouvement; Primitive motrice; Décomposition de taches; Factorisation de matrice positive; Apprentissage par renforcement inverse factorisé; Multimodal learning; Language acquisition; Symbol grounding; Concept learning; Human behavior understanding; Motion decomposition; Motion primitive; Task decomposition; Nonnegative matrix factorization; Factorial inverse reinforcement learning; Developmental robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Mangin, O. (2014). Emergence de concepts multimodaux : de la perception de mouvements primitifs à l'ancrage de mots acoustiques : The Emergence of Multimodal Concepts : From Perceptual Motion Primitives to Grounded Acoustic Words. (Doctoral Dissertation). Bordeaux. Retrieved from http://www.theses.fr/2014BORD0002

Chicago Manual of Style (16th Edition):

Mangin, Olivier. “Emergence de concepts multimodaux : de la perception de mouvements primitifs à l'ancrage de mots acoustiques : The Emergence of Multimodal Concepts : From Perceptual Motion Primitives to Grounded Acoustic Words.” 2014. Doctoral Dissertation, Bordeaux. Accessed December 11, 2019. http://www.theses.fr/2014BORD0002.

MLA Handbook (7th Edition):

Mangin, Olivier. “Emergence de concepts multimodaux : de la perception de mouvements primitifs à l'ancrage de mots acoustiques : The Emergence of Multimodal Concepts : From Perceptual Motion Primitives to Grounded Acoustic Words.” 2014. Web. 11 Dec 2019.

Vancouver:

Mangin O. Emergence de concepts multimodaux : de la perception de mouvements primitifs à l'ancrage de mots acoustiques : The Emergence of Multimodal Concepts : From Perceptual Motion Primitives to Grounded Acoustic Words. [Internet] [Doctoral dissertation]. Bordeaux; 2014. [cited 2019 Dec 11]. Available from: http://www.theses.fr/2014BORD0002.

Council of Science Editors:

Mangin O. Emergence de concepts multimodaux : de la perception de mouvements primitifs à l'ancrage de mots acoustiques : The Emergence of Multimodal Concepts : From Perceptual Motion Primitives to Grounded Acoustic Words. [Doctoral Dissertation]. Bordeaux; 2014. Available from: http://www.theses.fr/2014BORD0002

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