Research Papers - Dept of Information Technology

Permanent URI for this collectionhttps://rda.sliit.lk/handle/123456789/593

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    ROS Based Heterogeneous Multiple Robots Control Using High Level User Instructions
    (IEEE, 2021-12-07) Rajapaksha, S. K; Jayawardena, C; MacDonald, B. A
    Heterogeneous Multiple Robots(HMR) can be used in daily life for smart homes and industry. The differences in implementing different HMR can be minimized using middle-ware like Robot Operating System (ROS). However, the ROS topics, nodes, and message formats to subscribe and publish can differ from one robot to another. When a user expresses high-level instructions through the Web interface, all multiple robots must understand instructions uniformly and take the actions accordingly without considering each robot's internal software and hardware implementation. This paper represents an optimized ontology-based algorithm for HMR registration and control for high-level instructions. Autonomous robot registration was achieved using an ontology-based optimized algorithm. User-level high-level instructions are processed using an ontology-based algorithm to determine the corresponding actions for each robot. Finally, autonomous publication and subscription to different ROS topics were implemented using another optimized algorithm. The evaluation of the proposed algorithms was completed with Turtlebot, Husky and TiaGo robots using gazebo.
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    Methodology for coping with uncertain information contained in natural language instructions in a robotic system
    (IEEE, 2020-12-10) Bandara, H. M. Y. L. W; Wijesekera, D. S; Bandara Herath, H. M. T. D; Kodagoda, D. L; Rajapaksha, S, K
    Intelligent service robots are currently being developed to provide services and assistance in different sectors including domestic and household context. Typically, the service tasks of a domestic service robot involve direct interaction with humans. Humans typically express their ideas through voice communication. However, communication through natural language is imprecise because it tends to contain uncertain and unknown information. Therefore, understanding uncertain terms contained in natural language is a crucial capability that an intelligent service robot should possess. Hence, this project which is named as IntelBot is aimed at developing a methodology to cope with uncertain and unknown words contained in a natural language command given to a domestic service robot. In brief, the proposed system can interpret uncertain commands related to speed such as “go very fast” and the uncertain commands related to time such as “go later”. Additionally, if the robot is instructed to identify an object which is regarded to be unknown, as an example “cup” it can interpret and identify that particular object. And for the entire system, a user-friendly interface is developed for the easy control of the robot and the demonstration of the functionalities.