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UNDERWORLDS: Cascading Situation Assessment for Robots

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.
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Contributor : Aurélie Clodic Connect in order to contact the contributor
Submitted on : Tuesday, December 4, 2018 - 11:45:36 AM
Last modification on : Monday, July 4, 2022 - 9:01:11 AM


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Séverin Lemaignan, Yoan Sallami, Christopher Wallbridge, Aurélie Clodic, Tony Belpaeme, et al.. UNDERWORLDS: Cascading Situation Assessment for Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Oct 2018, Madrid, Spain. ⟨10.1109/IROS.2018.8594094⟩. ⟨hal-01943917⟩



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