• Electronics and Telecommunications Trends
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• v.39 no.1
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• pp.95-105
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• 2024

In natural language processing, large language models such as GPT-4 have recently been in the spotlight. The performance of natural language processing has advanced dramatically driven by an increase in the number of model parameters related to the number of acceptable input tokens and model size. Research on multimodal models that can simultaneously process natural language and image data is being actively conducted. Moreover, natural-language and image-based reasoning capabilities of large language models is being explored in robot artificial intelligence technology. We discuss research and related patent trends in robot task planning and code generation for robot control using large language models.

• KIPS Transactions on Software and Data Engineering
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• v.8 no.12
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• pp.499-506
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• 2019

An intelligent robot should decide its behavior accordingly to the dynamic changes in the environment and user's requirements by evaluating options to choose the best one for the current situation. Many intelligent robot systems that use the Procedural Reasoning System (PRS) accomplishes such task management functions by defining the priority functions in the task model and evaluating the priority functions of the applicable tasks in the current situation. The priority functions, however, are defined locally inside of the plan, which exhibits limitation for the tasks for multi-domain services because global contexts for overall prioritization are hard to be expressed in the local priority functions. Furthermore, since the prioritization functions are not defined as an explicit module, reuse or extension of the them for general context is limited. In order to remove such limitations, we propose a policy-based meta-planning for general task management for multi-domain services, which provides the ability to explicitly define the utility of a task in the meta-planning process and thus the ability to evaluate task priorities for general context combining the modular priority functions. The ontological specification of the model also enhances the scalability of the policy model. In the experiments, adaptive behavior of a robot according to the policy model are confirmed by observing the appropriate tasks are selected in dynamic service environments.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.785-798
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• 2004

This paper introduces the development of a range sensor based integrated navigation system for a multi-functional indoor service robot, called PSR (Public Service Robot System). The proposed navigation system includes hardware integration for sensors and actuators, the development of crucial navigation algorithms like mapping, localization, and path planning, and planning scheme such as error/fault handling. Major advantages of the proposed system are as follows: 1) A range sensor based generalized navigation system. 2) No need for the modification of environments. 3) Intelligent navigation-related components. 4) Framework supporting the selection of multiple behaviors and error/fault handling schemes. Experimental results are presented in order to show the feasibility of the proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.4
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• pp.709-714
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• 2023

A flexible planning system is an important element for the robot to perform various tasks. In this paper, we introduce an automated planning system architecture that can deal with the changing environment. PDDL is used for symbolic-based task planning, and a graph database is used for real-time environment information updates for automated PDDL generation. The proposed framework was verified through scenario-based experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.137.1-137
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• 2001

A new method for a guide robot using Real-Time Linux OS is introduced in this paper. A guide robot is to guide people in museums or buildings. So it has to be more reliable and stable in its control system. In addition, it has to satisfy Real-Time operation requirement because it needs to react to changing environment prompty. The task includes localization, map building, collision avoidance, path planning, and user interface software. The modular guide robot is designed with Real-Time Linux OS, which is composed of many open sources for scheduler, interrupt dispatcher, fifos, shared memory, timer services. We developed application software to satisfy the given task. The developed guide robot moves at 0.2ms and the interrupt latency is less than 100$\mu\textrm{s}$ It is thought that the developed system can be a stable and low cost open architecture robot controller for ...

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.249-256
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• 1999

The conventional robot manipulability is decomposed into linear manipulability and angular manipulability so that they may be analysed and visualized in easy way even in the case of 3 dimensional task space with 6 variables. After the Jacobian matrix is decomposed into linear part and angular part, constraint on joint velocities is transformed into linear task velocity and angular task velocity through the decomposed Jacobian matrices. Under the assumption of redundant robot manipulators, several optimization problems which utilize the redundancy are formulated to be solved by linear programming technique or sequential quadratic programming technique. After deriving the solutions of the optimization problems, we give graphical interpretations for the solutions.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.445-452
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• 2012

With the increasing number of high-rise and large-scale buildings, modern buildings are becoming intelligent, and are incurring high construction costs and requiring careful maintenance. Maintenance works for high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. The resulting accidents may produce very high social and economic losses. To address this problem, herein, this paper proposes robotic building maintenance system using multi-robot concept, in specific, cleaning a building facade which is directly subjected to minimize human labor; that improves the process efficiency and economic feasibility. The sensor for detecting contamination of building's outer-wall glass is proposed; Kalman filter was used for estimating robots' status with the contamination of the window glass. Task allocation of the sensor based multi-robots for an effective way of task execution is introduced and the feasibility was verified through the simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1232-1239
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• 2009

This paper proposes an exploration strategy to efficiently find a specific place in large unknown environments with wall-following based path planning. Many exploration methods proposed so far showed good performance but they focused only on efficient planning for modeling unknown environments. Therefore, to successfully accomplish the room finding task, two additional requirements should be considered. First, suitable path-planning is needed to recognize the room number. Most conventional exploration schemes used the gradient method to extract the optimal path. In these schemes, the paths are extracted in the middle of the free space which is usually far from the wall. If the robot follows such a path, it is not likely to recognize the room number written on the wall because room numbers are usually too small to be recognized by camera image from a distance. Second, the behavior which re-explores the explored area is needed. Even though the robot completes exploration, it is possible that some rooms are not registered in the constructed map for some reasons such as poor recognition performance, occlusion by a human and so on. With this scheme, the robot does not have to visit and model the whole environment. This proposed method is very simple but it guarantees that the robot can find a specific room in most cases. The proposed exploration strategy was verified by various experiments.

• Advances in robotics research
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• v.1 no.2
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• pp.171-183
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• 2014

Distributed planning and decision making can be beneficial from the robustness, adaptability and fault tolerance in multi-robot systems. Distributed mechanisms have not been employed in three dimensional transportation systems namely aerial and underwater environments. This paper presents a distributed cooperation mechanism on multi robot transportation problem in three dimensional environments. The cooperation mechanism is based on artificial capital market, a newly introduced market based negotiation protocol. In the proposed mechanism contributing in transportation task is defined as asset. Each robot is considered as an investor who decides if he is going to invest on some assets. The decision is made based on environmental constraint including fuel limitation and distances those are modeled as capital and cost. Simulations show effectiveness of the algorithm in terms of robustness, speed and adaptability.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.40-43
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• 1996

An off-line programming, OLP, system is widely used in automation fines. To help an on-line robot system to carry out desirable tasks planned by the off-line simulation, an approach to the real-time communication is presented. The OLP system developed consists of a software, a host computer(PC), a SCARA robot body, four servo drivers, and four independent joint controllers. This study focuses on the software where real-time communication is included. The software, can be used in teaching, trajectory planning, real-time running, and performance evaluation. The evaluation of different control algorithms is one of the merits of the software. The software can give servo commands for task running. A comparison of generated and corresponding actual trajectories provides the evaluation of task performance. The safety, of the OLP system is ensured by alarming malfuntions of the system. The OLP system developed can reduce the teaching time and increase the user's convenience.