Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN
 
 
 
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Contact

 

+44 (0)20 7594 6300y.demiris Website

 
 
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Location

 

1014Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Martins:2010,
author = {Martins, MF and Demiris, Y},
pages = {931--938},
publisher = {ACM},
title = {Learning multirobot joint action plans from simultaneous task execution demonstrations.},
url = {http://dl.acm.org/citation.cfm?id=1838206.1838331},
year = {2010}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - The central problem of designing intelligent robot systems which learn by demonstrations of desired behaviour has been largely studied within the field of robotics. Numerous architectures for action recognition and prediction of intent of a single teacher have been proposed. However, little work has been done addressing how a group of robots can learn by simultaneous demonstrations of multiple teachers.This paper contributes a novel approach for learning multirobot joint action plans from unlabelled data. The robots firstly learn the demonstrated sequence of individual actions using the HAMMER architecture. Subsequently, the group behaviour is segmented over time and space by applying a spatio-temporal clustering algorithm.The experimental results, in which humans teleoperated real robots during a search and rescue task deployment, successfully demonstrated the efficacy of combining action recognition at individual level with group behaviour segmentation, spotting the exact moment when robots must form coalitions to achieve the goal, thus yielding reasonable generation of multirobot joint action plans.
AU - Martins,MF
AU - Demiris,Y
EP - 938
PB - ACM
PY - 2010///
SP - 931
TI - Learning multirobot joint action plans from simultaneous task execution demonstrations.
UR - http://dl.acm.org/citation.cfm?id=1838206.1838331
UR - http://hdl.handle.net/10044/1/12627
ER -