Papers by Juan-Manuel Ahuactzin
FP6-IST-027140 Bayesian Approach to Cognitive Systems
We present the implementation of computational Laban Movement Analysis for human-machine interact... more We present the implementation of computational Laban Movement Analysis for human-machine interaction using Bayesian reasoning. The research field of computational Human Movement Analysis is lacking a general underlying modeling language, i.e., how to map the features into symbols. With such a semantic descriptor, the recognition problem can be posed as a problem to recognize a sequence of symbols taken from an alphabet consisting of motion-entities. Laban Movement Analysis (LMA) has been proven successful in areas where humans are observing other humans’ movements. LMA provides a model for observation and description and a notational system (Labanotation). To implement LMA in a computer we have chosen a Bayesian approach and the formalism of Bayesian Programming. The framework allows us to model the process, learn the dependencies between features and symbols and to perform online-classification using LMA-labels. We have chosen the application ’Social Robots’ to demonstrate the feas...
This paper deals with the manipulation planning problem, where the goal is to plan the motion of ... more This paper deals with the manipulation planning problem, where the goal is to plan the motion of a robot so that it can move a given object from an initial con guration to a nal con guration while avoiding collisions with the static obstacles in the environment. Our speci c approach adapts Adraine's Clew Algorithm that has been shown effective for classical motion planning problem 1, 12]. In our approach, landmarks are placed in lower dimensional submanifolds of the composite con guration space. These landmarks represent stable grasps that are reachable from the initial con guration. From each new landmark, the planner attempts to reach the goal con guration by executing a local planner, again in a lower (but di erent) dimensional submanifold of the composite con guration space. We have implemented this approach and present initial experiments with a simple 2-dof planar arm among polygonal obstacles.
An application of genetic algorithm to robotics: the "Ariadne's Clew" algorithm
The "ariadne's Clew" 1 Algorithm
The goal of the work described in this paper is to build a path planner able to drive a robot in ... more The goal of the work described in this paper is to build a path planner able to drive a robot in a dynamic environment where the obstacles are moving. In order to do so, we propose a method, called "ARIADNE'S CLEW algorithm", to build a global path planner based on the combination of two local planning algorithms: an EXPLORE algorithm and a SEARCH algorithm. The purpose of the EXPLORE algorithm is to collect information about the environment with an increasingly fine resolution by placing landmarks in the searched space. The goal of the SEARCH algorithm is to opportunistically check if the target can be easily reached from any given placed landmark.
This paper deals with the manipulation planning problem, where the goal is to plan the motion of ... more This paper deals with the manipulation planning problem, where the goal is to plan the motion of a robot so that it can move a given object from an initial con guration to a nal con guration while avoiding collisions with the static obstacles in the environment. Our speci c approach adapts Adraine's Clew Algorithm that has been shown effective for classical motion planning problem 1, 12]. In our approach, landmarks are placed in lower dimensional submanifolds of the composite con guration space. These landmarks represent stable grasps that are reachable from the initial con guration. From each new landmark, the planner attempts to reach the goal con guration by executing a local planner, again in a lower (but di erent) dimensional submanifold of the composite con guration space. We have implemented this approach and present initial experiments with a simple 2-dof planar arm among polygonal obstacles.
We propose a new approach to solving the point-topoint inverse kinematics problem for highly redu... more We propose a new approach to solving the point-topoint inverse kinematics problem for highly redundant manipulators. It is inspired by recent motion planning research and explicitly takes into account constraints due to joint limits and self-collisions. Central to our approach is the novel notion of kinematic roadmap for a manipulator. The kinematic roadmap captures the connectivity of the configuration space of a manipulator in a finite graph like structure. The standard formulation of inverse kinematics problem is then ...
The Ariadne's clew algorithm; From Animal to Animats
Second International Conference on Simulation and Adaptative Behavior (SAB92), Honolulu (USA), 1992
HAL - hal.archives-ouvertes.fr, CCSd - Centre pour la Communication Scientifique Direct. Accueil;... more HAL - hal.archives-ouvertes.fr, CCSd - Centre pour la Communication Scientifique Direct. Accueil; Dépôt: S'authentifier; S'inscrire. Consultation: Par domaine; Les 30 derniers dépôts; Par année de publication, rédaction, dépôt; Par type de publication; Par collection; Les portails de l'archive ouverte HAL; Par établissement (extraction automatique); ArXiv; Les Thèses (TEL). Recherche: Recherche simple; Recherche avancée; Accès par identifiant; Les Thèses ...
An application of genetic algorithm to robotics: the'Ariadne's Clew'algorithm
HAL - hal.archives-ouvertes.fr, CCSd - Centre pour la Communication Scientifique Direct. Accueil;... more HAL - hal.archives-ouvertes.fr, CCSd - Centre pour la Communication Scientifique Direct. Accueil; Dépôt: S'authentifier; S'inscrire. Consultation: Par domaine; Les 30 derniers dépôts; Par année de publication, rédaction, dépôt; Par type de publication; Par collection; Les portails de l'archive ouverte HAL; Par établissement (extraction automatique); ArXiv; Les Thèses (TEL). Recherche: Recherche simple; Recherche avancée; Accès par identifiant; Les Thèses ...
Cooperating parallel genetic algorithms
Handbook of Genetic Algorithms applications, 1995
HAL - hal.archives-ouvertes.fr, CCSd - Centre pour la Communication Scientifique Direct. Accueil;... more HAL - hal.archives-ouvertes.fr, CCSd - Centre pour la Communication Scientifique Direct. Accueil; Dépôt: S'authentifier; S'inscrire. Consultation: Par domaine; Les 30 derniers dépôts; Par année de publication, rédaction, dépôt; Par type de publication; Par collection; Les portails de l'archive ouverte HAL; Par établissement (extraction automatique); ArXiv; Les Thèses (TEL). Recherche: Recherche simple; Recherche avancée; Accès par identifiant; Les Thèses ...
Completeness results for a point-to-point inverse kinematics algorithm
We propose a novel and global algorithm to solving the point-to-point inverse kinematics problem ... more We propose a novel and global algorithm to solving the point-to-point inverse kinematics problem for redundant manipulators. Given an initial configuration of the robot, the problem is to find a reachable (path-connected) configuration that corresponds to a desired position and orientation of the end-effector. Our approach was inspired by recent motion planning research and explicitly takes into account constraints due to joint limits, self-collisions and static obstacles in the environment. The problem is posed as an ...
Using Generalized Cylinders for Collision Detection in Robotics
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3D Human Hip Volume Reconstruction with Incomplete Multimodal Medical Images
Probabilistic Reasoning and Decision Making in Sensory-Motor Systems, 2008
This work is within the context of Computer-assisted Orthopaedic Surgery (CAOS), in particular To... more This work is within the context of Computer-assisted Orthopaedic Surgery (CAOS), in particular Total Hip Replacement (THR) surgery.“Computer-assisted Surgery (CAS) has the aim of assisting surgeons in their therapeutic efforts to be as exact and minimally invasive as possible”(Corbillon, 2002). CAS is an interdisciplinary research area; it uses many sources of information, devices, computer techniques and clinics. In the past, medical imagery was only used for diagnosis and pathology localization. Today, image processing and ...
Bayesian Programming formalism and ProBT API
HAL - hal.archives-ouvertes.fr, CCSd - Centre pour la Communication Scientifique Direct. Accueil;... more HAL - hal.archives-ouvertes.fr, CCSd - Centre pour la Communication Scientifique Direct. Accueil; Dépôt: S'authentifier; S'inscrire. Consultation: Par domaine; Les 30 derniers dépôts; Par année de publication, rédaction, dépôt; Par type de publication; Par collection; Les portails de l'archive ouverte HAL; Par établissement (extraction automatique); ArXiv; Les Thèses (TEL). Recherche: Recherche simple; Recherche avancée; Accès par identifiant; Les Thèses ...
A parallel genetic algorithm for optimization
TSI-Technique et Science Informatiques-RAIRO, 1996
P. Bessi ere, and E. Mazer. Using genetic algorithms for robot motion planning
10th Europ. Conf. Artific. Intell
A massively parallel implementation of the ariadne’s clew algorithm. In?, editor
Proceedings of the International Workshop on Intelligent Robotic Systems IRS93, page
Controlling virtual autonomous entities in dynamic environments using an appropriate sense-plan-control paradigm
… Systems, 2000.(IROS 2000 …, 2000
Research in path planning, motion control, and sensing is well-developed in robotics. The purpose... more Research in path planning, motion control, and sensing is well-developed in robotics. The purpose of this paper is to show how general ideas from this area can be used for navigation of virtual autonomous entities in partially known dynamic environments. The basic idea is to consider the virtual entity as a “Virtual Robot” controlled using a layered navigation system combining a general path planner, a motion controller and a simulated perception system. Particularly, we address our initial implementation for the case of a ...
The Ariadne’s clew algorithm: A general planning technique, Application to automatic path planning
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Papers by Juan-Manuel Ahuactzin