DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active Sensing
This article presents: (i) a formal, generic model for active sensing tasks; (ii) the insight that active sensing actions can very often be searched on less than six-dimensional configuration spaces (bringing an exponential reduction in the computational costs involved in the search); (iii) an algor...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2015-05-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | http://www.mdpi.com/2218-6581/4/2/141 |
| _version_ | 1797999399783104512 |
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| author | Niccoló Tosi Olivier David Herman Bruyninckx |
| author_facet | Niccoló Tosi Olivier David Herman Bruyninckx |
| author_sort | Niccoló Tosi |
| collection | DOAJ |
| description | This article presents: (i) a formal, generic model for active sensing tasks; (ii) the insight that active sensing actions can very often be searched on less than six-dimensional configuration spaces (bringing an exponential reduction in the computational costs involved in the search); (iii) an algorithm for selecting actions explicitly trading off information gain, execution time and computational cost; and (iv) experimental results of touch-based localization in an industrial setting. Generalizing from prior work, the formal model represents an active sensing task by six primitives: configuration space, information space, object model, action space, inference scheme and action-selection scheme; prior work applications conform to the model as illustrated by four concrete examples. On top of the mentioned primitives, the task graph is then introduced as the relationship to represent an active sensing task as a sequence of low-complexity actions defined over different configuration spaces of the object. The presented act-reason algorithm is an action selection scheme to maximize the expected information gain of each action, explicitly constraining the time allocated to compute and execute the actions. The experimental contributions include localization of objects with: (1) a force-controlled robot equipped with a spherical touch probe; (2) a geometric complexity of the to-be-localized objects up to industrial relevance; (3) an initial uncertainty of (0.4 m, 0.4 m, 2Π); and (4) a configuration of act-reason to constrain the allocated time to compute and execute the next action as a function of the current uncertainty. Localization is accomplished when the probability mass within a 5-mm tolerance reaches a specified threshold of 80%. Four objects are localized with final {mean; standard-deviation} error spanning from {0.0043 m; 0.0034 m} to {0.0073 m; 0.0048 m}. |
| first_indexed | 2024-04-11T11:04:04Z |
| format | Article |
| id | doaj.art-59d5cb8a9d264d84a46968f2836ffec6 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-11T11:04:04Z |
| publishDate | 2015-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-59d5cb8a9d264d84a46968f2836ffec62022-12-22T04:28:26ZengMDPI AGRobotics2218-65812015-05-014214116810.3390/robotics4020141robotics4020141DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active SensingNiccoló Tosi0Olivier David1Herman Bruyninckx2Department of Mechanical Engineering, KU Leuven, Celestijnenlaan 300, 3001 Heverlee, BelgiumCEA, LIST, Interactive Robotics Laboratory, PC 178, 91191 Gif sur Yvette Cedex, FranceDepartment of Mechanical Engineering, KU Leuven, Celestijnenlaan 300, 3001 Heverlee, BelgiumThis article presents: (i) a formal, generic model for active sensing tasks; (ii) the insight that active sensing actions can very often be searched on less than six-dimensional configuration spaces (bringing an exponential reduction in the computational costs involved in the search); (iii) an algorithm for selecting actions explicitly trading off information gain, execution time and computational cost; and (iv) experimental results of touch-based localization in an industrial setting. Generalizing from prior work, the formal model represents an active sensing task by six primitives: configuration space, information space, object model, action space, inference scheme and action-selection scheme; prior work applications conform to the model as illustrated by four concrete examples. On top of the mentioned primitives, the task graph is then introduced as the relationship to represent an active sensing task as a sequence of low-complexity actions defined over different configuration spaces of the object. The presented act-reason algorithm is an action selection scheme to maximize the expected information gain of each action, explicitly constraining the time allocated to compute and execute the actions. The experimental contributions include localization of objects with: (1) a force-controlled robot equipped with a spherical touch probe; (2) a geometric complexity of the to-be-localized objects up to industrial relevance; (3) an initial uncertainty of (0.4 m, 0.4 m, 2Π); and (4) a configuration of act-reason to constrain the allocated time to compute and execute the next action as a function of the current uncertainty. Localization is accomplished when the probability mass within a 5-mm tolerance reaches a specified threshold of 80%. Four objects are localized with final {mean; standard-deviation} error spanning from {0.0043 m; 0.0034 m} to {0.0073 m; 0.0048 m}.http://www.mdpi.com/2218-6581/4/2/141active sensinglocalizationtactile sensorsinformation gainentropydecision makingreasoning |
| spellingShingle | Niccoló Tosi Olivier David Herman Bruyninckx DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active Sensing Robotics active sensing localization tactile sensors information gain entropy decision making reasoning |
| title | DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active Sensing |
| title_full | DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active Sensing |
| title_fullStr | DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active Sensing |
| title_full_unstemmed | DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active Sensing |
| title_short | DOF Decoupling Task Graph Model: Reducing the Complexity of Touch-Based Active Sensing |
| title_sort | dof decoupling task graph model reducing the complexity of touch based active sensing |
| topic | active sensing localization tactile sensors information gain entropy decision making reasoning |
| url | http://www.mdpi.com/2218-6581/4/2/141 |
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