TY  - JOUR
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
T1  - Decision-Theoretic Planning with Fuzzy Notions in GOLOG
JF  - International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems
N2  - In this paper we present an extension of the action language Golog that allows for using fuzzy notions in non-deterministic argument choices and the reward function in decision-theoretic planning. Often, in decision-theoretic planning, it is cumbersome to specify the set of values to pick from in the non-deterministic-choice-of-argument statement. Also, even for domain experts, it is not always easy to specify a reward function. Instead of providing a finite domain for values in the non-deterministic-choice-of-argument statement in Golog, we now allow for stating the argument domain by simply providing a formula over linguistic terms and fuzzy uents. In Golog’s forward-search DT planning algorithm, these formulas are evaluated in order to find the agent’s optimal policy. We illustrate this in the Diner Domain where the agent needs to calculate the optimal serving order.
Y1  - 2016
U6  - http://dx.doi.org/10.1142/S0218488516400134
SN  - 1793-6411
VL  - 24
IS  - Issue Suppl. 2
SP  - 123
EP  - 143
PB  - World Scientific
CY  - Singapur
ER  - 
TY  - CHAP
A1  - Limpert, Nicolas
A1  - Schiffer, Stefan
A1  - Ferrein, Alexander
T1  - A Local Planner for Ackermann-Driven Vehicles in ROS SBPL
T2  - Proceedings of the International Conference on Pattern Recognition Association of South Africa and Robotics and Mechatronics (PRASA-RobMech), 2015
Y1  - 2015
U6  - http://dx.doi.org/10.1109/RoboMech.2015.7359518
SP  - 172
EP  - 177
ER  - 
TY  - CHAP
A1  - Goeckel, Tom
A1  - Schiffer, Stefan
A1  - Wagner, Hermann
A1  - Lakemeyer, Gerhard
T1  - The Video Conference Tool Robot ViCToR
T2  - Intelligent Robotics and Applications : 8th International Conference, ICIRA 2015, Portsmouth, UK, August 24-27, 2015, Proceedings, Part II
N2  - We present a robotic tool that autonomously follows a conversation to enable remote presence in video conferencing. When humans participate in a meeting with the help of video conferencing tools, it is crucial that they are able to follow the conversation both with acoustic and visual input. To this end, we design and implement a video conferencing tool robot that uses binaural sound source localization as its main source to autonomously orient towards the currently talking speaker. To increase robustness of the acoustic cue against noise we supplement the sound localization with a source detection stage. Also, we include a simple onset detector to retain fast response times. Since we only use two microphones, we are confronted with ambiguities on whether a source is in front or behind the device. We resolve these ambiguities with the help of face detection and additional moves. We tailor the system to our target scenarios in experiments with a four minute scripted conversation. In these experiments we evaluate the influence of different system settings on the responsiveness and accuracy of the device.
Y1  - 2015
SN  - 978-3-319-22876-1
U6  - http://dx.doi.org/10.1007/978-3-319-22876-1_6
N1  - Lecture Notes in Computer Science ; 9245
SP  - 61
EP  - 73
PB  - Springer
ER  -