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About NIFTi
NIFTi is about human-robot cooperation. About teams of robots and humans doing tasks together, interacting together to try and reach a shared goal. NIFTi looks at how the robot could bear the human in mind. Literally. When determining what to do or say next in human-robot interaction; when, and how. NIFTi puts the human factor into cognitive robots, and human-robot team interaction in particular.   Each year, NIFTi evaluates its systems together with several USAR organizations. Rescue personnel teams up with NIFTi robots to carry out realistic missions, in real-life training areas. 

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M. Gianni, P. Papadakis, F. Pirri, M. Liu, F. Pomerleau, F. Colas, K. Zimmermann, T. Svoboda, T. Petricek, G.J.M. Kruijff, H. Khambhaita, and H. Zender (2011)

A Unified Framework for Planning and Execution-Monitoring of Mobile Robots

In: Proceedings of the AAAI-11 Workshop on Automated Action Planning for Autonomous Mobile Robots (PAMR), AAAI.

We present an original integration of high level plan- ning and execution with incoming perceptual informa- tion from vision, SLAM, topological map segmentation and dialogue. The task of the robot system, implement- ing the integrated model, is to explore unknown areas and report detected objects to an operator, by speaking loudly. The knowledge base of the planner maintains a graph-based representation of the metric map that is dynamically constructed via an unsupervised topolog- ical segmentation method, and augmented with infor- mation about the type and position of detected objects, within the map, such as cars or containers. According to this knowledge the cognitive robot can infer strategies in so generating parametric plans that are instantiated from the perceptual processes. Finally, a model-based approach for the execution and control of the robot system is proposed to monitor, concurrently, the low level status of the system and the execution of the activities, in order to achieve the goal, instructed by the operator.
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