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UNDERWORLDS : cascading situation assessment for robots

Authors
  • Lemaignan, Severin
  • Sallami, Yoan
  • Wallhridge, Christopher
  • Clodic, Aurelic
  • Belpaeme, Tony
  • Alami, Rachid
Publication Date
Jan 01, 2018
Identifiers
DOI: 10.1109/iros.2018.8594094
OAI: oai:archive.ugent.be:8590901
Source
Ghent University Institutional Archive
Keywords
Language
English
License
Green
External links

Abstract

We introduce UNDERWORLDS, a novel lightweight framework for cascading spatio-temporal situation assessment in robotics. UNDERWORLDS allows programmers to represent the robot's environment as real-time distributed data structures, containing both scene graphs (for representation of 3D geometries) and timelines (for representation of temporal events). UNDERWORLDS supports cascading representations: the environment is viewed as a set of worlds that can each have different spatial and temporal granularities, and may inherit from each other. UNDERWORLDS also provides a set of high-level client libraries and tools to introspect and manipulate the environment models. This article presents the design and architecture of this open-source tool, and explores some applications, along with examples of use.

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