Plenary Lecture, SIGNAL PROCESSING, ROBOTICS and AUTOMATION (ISPRA '09), Cambridge, UK, February 21-23, 2009

Plenary Lecture

Safety, Uncertainty, and Real-Time Problems in Developing Autonomous Robots


Professor Vitaliy Rybak
Department of Postgraduate Studies
Tecnological University of the Mixteca
Carretera a Acatlima Km. 2.5, Huajuapan de Leon, Oaxaca

Abstract: Recent developments in robotics outside traditional industrial applications increasingly focus on operation of robots in an unstructured environment and human vs. robot interactions. Examples of new applications of robots in unstructured environments that are actively pursued today are personal and service robotics, space and underwater robotics, medical and rehabilitation robotics, construction robotics, and agriculture robotics. The new trends in robotics research have a general goal of getting robots closer to human social needs. In this case a key problem of robotics is the problem of safety of robot and its surrounding. For safe autonomous functioning in a dynamic unstructured environment, a robot should possess a capability of real-time data processing under information uncertainty. These three issues - safety, uncertainty, and real-time data processing are closely related: planning safe actions based on uncertain data usually requires more computation than planning without uncertainty because multiple possible outcomes of actions should be considered. The main sources of the uncertainty are inaccuracy of sensorial data measurement, time-delay of sensorial data acquisition and processing, and time-delayed feedback in a robot’s control system. As increase of accuracy of measurements and speed of data processing has technical and economic restrictions, there is a necessity for search of practical decisions in the conditions of existing possibilities. We propose a method of real-time data processing under information uncertainty that deals with different acceptable levels of uncertainty and collaborative processing of various data, visual and non-visual. Finally we present the examples of application of the proposed method for building of robot’s environment model and for robot motion planning with obstacles avoiding.

Brief Biography of the Speaker:
Vitaliy Rybak received the Diploma in radio-physics from the Kiev State University, Ukraine, 1958, and Ph. D. degree in Technical Cybernetics from the Institute of Cybernetics of the Academy of Sciences of Ukraine, 1968.
Since 1958 till 2000 he was with the Institute of Cybernetics of the Academy of Sciences of Ukraine. From 1975 to 2000 he was the scientific director of the National Scientific Seminar of Ukraine “Scientific and Engineering Problems of Robotics”. From 1982 to 2000 he was the head of Department of Informatics in Robotics of the Institute of Cybernetics of the Academy of Sciences of Ukraine. From 1989 to 2000 he was the director of the Section of Robotics of the Scientific Council of the Automation of the National Academy of Sciences of Ukraine. From 2000 till now he is a professor of the Technological University of the Mixteca, Mexico; director of the Laboratory of Robotics of the same university.
His major research interests include Intelligent Robotics (autonomous robot architecture, 3D robotics vision, 3D stereo measurement, 3D object recognition and scene analysis, goal directed robot’s behavior planning), Image Processing, and Pattern Recognition.
He has published the book and more than 140 papers in Intelligent Robotics, Image Processing, and Pattern Recognition. He was the responsible editor of 13 books in Artificial Intelligence, Intelligent Robotics, Image Processing, and Pattern Recognition. He was the director of numerous international and national research projects in Image Processing, Pattern Recognition, and Intelligent Robotics.
He is the winner of the National award in the field of science and technology of Ukraine, 1993.


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