177,765 research outputs found
Introduzione: agricoltura tradizionale, una rivisitazione né ingenua né nostalgica con in appendice Roberto Finzi, Guido Lo Vecchio Le bilan énergétique d'une agriculture "traditionelle" : plaine del Bologne ( Italie),1881 : une première approximation ( texte presenté au Xe Congrès de l'Association Internationale d’Histoire Économique, Louvain, 20-24 août 1990, Session C2( Eco-logical History )
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L'uomo a una dimensione dell'economista in camice bianco
No full textAnalisi critica della definizione " classica" di economia di Robbin
An automated guided vehicle for flexible and interactive task execution in hospital scenarios
No full textWe present the control architecture of a modular robotic system designed for hospital logistics. The robotics system is an automated guided vehicle that can autonomously perform tasks like carrying and delivering objects, medicines or devices, while interacting with humans in the hospital environment. Specifically, the robotic platform is designed to dock and move passive vehicles (like carts, containers, etc.), which dynamically change the robot shape and function during the task execution. We describe the overall control architecture focusing on the executive and the planning systems. We discuss the system at work in different scenarios considering both autonomous and interactive tasks
Learning attentional regulations for structured tasks execution in robotic cognitive control
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Toward a Cognitive Control Framework for Explainable Robotics
No full textThe ability to explain and motivate the execution of actions is a key feature for complex robotic systems. In this paper, we propose an executive framework, endowed with a hierarchical representation of tasks, where robot actions and constraints can be directly associated with natural language explanations in order to facilitate the design of novel tasks and the understanding of executing ones. The executive system relies on a cognitive control paradigm where attentional regulations are exploited to both schedule and explain robotic activities during tasks execution. The framework has been deployed in an industrial scenario where multiple pick-carry-and-place tasks are to executed, showing how the proposed approach naturally supports explainability and legibility of the robot behaviors
A rapidly-exploring random trees approach to combined task and motion planning
No full textTask and motion planning in robotics are typically addressed by separated intertwined methods. Task planners generate abstract high-level actions to be executed, while motion planners provide the associated discrete movements in the configuration space satisfying kinodynamic constraints. However, these two planning processes are strictly dependent, therefore the problem of combining task and motion planning with a uniform approach is very relevant. In this work, we tackle this issue by proposing a RRT-based method that addresses combined task and motion planning. Our approach relies on a combined metric space where both symbolic (task) and sub-symbolic (motion) spaces are represented. The associated notion of distance is then exploited by a RRT-based planner to generate a plan that includes both symbolic actions and feasible movements in the configuration space. The proposed method is assessed in several case studies provided by a real-world hospital logistic scenario, where an omni-directional mobile robot is involved in navigation and transportation tasks
Combining task and motion planning through rapidly-exploring random trees
No full textCombined task and motion planning is a relevant issue in robotics. In path and motion planning, Rapidly-exploring Random Trees (RRTs) have been proposed as effective methods to efficiently search high-dimensional spaces. On the other hand, the deployment of these techniques to symbolic task planning problems has been partially investigated. In this paper, we explore this issue proposing a method to combine task and motion planning based on RRTs. Our approach relies on a metric space where both symbolic (task) and sub-symbolic (motion) spaces are represented. The associated notion of distance is then exploited by a RRT-based planner to generate a plan that includes both symbolic actions and obstacle-free trajectories. The proposed method is assessed in several case studies provided by a real-world hospital logistic scenario, where an omni-directional mobile robot is involved in pick-carry-and-place tasks
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