UNDERWORLDS: Cascading Situation Assessment for Robots
Séverin Lemaignan, Yoan Sallami, Christopher Wallbridge, Aurélie Clodic, Tony Belpaeme, Rachid Alami
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.
BibTeX
@inproceedings{iros2018_underworldscasca,
title = {UNDERWORLDS: Cascading Situation Assessment for Robots},
author = {Séverin Lemaignan and Yoan Sallami and Christopher Wallbridge and Aurélie Clodic and Tony Belpaeme and Rachid Alami},
booktitle = {IROS 2018},
year = {2018}
}