Logic-probabilistic model for event recognition in a robotic search and rescue scenario

José A. Gurzoni, Fabio G. Cozman, Murilo F. Martins, Paulo E. Santos

Research output: Contribution to journalConference articlepeer-review

Abstract

This paper presents initial results towards the development of a logic-based probabilistic event recognition system capable of learning and inferring high-level joint actions from simultaneous task execution demonstrations on a search and rescue scenario. We adopt a probabilistic extension of the Event Calculus defined over Markov Logic Networks (MLN-EC). This formalism was applied to learn and infer the actions of human operators teleoperating robots in a real-world robotic search and rescue task. Experimental results in both simulation and real robots show that the probabilistic event logic can recognise the actions taken by the human teleoperators in real world domains containing two collaborating robots, even with uncertain and noisy data.

Original languageEnglish
Pages (from-to)1726-1731
Number of pages6
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume2014
DOIs
Publication statusPublished - 2014
Externally publishedYes
Event2014 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2014 - San Diego, United States
Duration: 5 Oct 20148 Oct 2014

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