https://biecoll.ub.uni-bielefeld.de/index.php/morse/issue/feed 2019-06-05T12:58:35+00:00 Open Journal Systems https://biecoll.ub.uni-bielefeld.de/index.php/morse/article/view/325 2019-06-05T12:58:35+00:00 Séverin Lemaignan ojs.ub@uni-bielefeld.de

Simulation in robotics is often a love-hate relation-ship: while simulators do save us a lot of time and effort compared to regular deployment of complex software architectures on complex hardware, simulators are also known to evade many (if not most) of the very real issues that robots need to manage when they enter the real world. Because humans are the paragon of dynamic, unpredictable, complex, real world entities, simulation of human-robot interactions may look condemn to fail, or, in the best case, to be mostly useless. In this workshop we will discuss recent work realized with the MORSE simulator in the field of human-robot interaction. In this this talk I will give an overview of recent developments with respect to HRI of the MORSE simulator.

2014-12-31T00:00:00+00:00 Copyright (c) 2023 MORSE-HRI-Workshop 2014 https://biecoll.ub.uni-bielefeld.de/index.php/morse/article/view/326 2019-06-05T12:58:35+00:00 Marc Hanheide ojs.ub@uni-bielefeld.de

In this talk I present recent work in the context of the European Integrated Project STRANDS (Spatio-temporal representations for Cognitive Control in Long-term Activities, http://strands-project.eu) that employ the MORSE simulator. In particular, I present three application domains to facilitate long-term simulation of dynamic worlds within that project. First, MORSE is employed in a continuous integration and testing framework helping to ensure high code quality, not only on compilation levels, but also on a level of system integration and deployment. MORSE is being used to run system level tests defined for the Jenkins continuous integration platform, enabling STRANDS to maintain a high-level of code consistency required to successfully participate in events such as the Robot Marathon. Secondly, I outline the use of MORSE, and particularly its flexible build scripts, to automatically generate worlds from Qualitative Spatial Relations (QSR). These allow to define a world qualitatively on the level of builder scripts with defined probability distribution of metric object positions and orientations. In STRANDS, this ability is exploited to generated randomised world in a controlled way, both to study the formation of QSRs and to generate randomised worlds for the before-mentioned testing framework. Finally, I present our work on Human-Robot Spatial Interaction and our preliminary efforts to simulate crowds in a robotic simulator. This final contribution is mostly work in progress with implementation in MORSE still pending. But initial results have been obtained to simulate thousands of agents in a simulated airport environment by using a hierarchical representation of vector maps to generate individual trajectories for agents. This work will lead to a more realistic simulation of human-inhabited environment and is use in STRANDS' research on human-robot spatial interaction.

2014-12-31T00:00:00+00:00 Copyright (c) 2023 MORSE-HRI-Workshop 2014 https://biecoll.ub.uni-bielefeld.de/index.php/morse/article/view/327 2019-06-05T12:58:34+00:00 Florian Lier ojs.ub@uni-bielefeld.de

In this talk recent development on automated state machine-based system testing, with a focus on robotics simulation, is presented. In particular, I present the implementation of the simulation environment for the humanoid robot head "Flobi" and the testing framework (FSMT) to assess its preciseness with respect to executed joint trajectories --- compared to its physical counterpart. In addition, I present a fully automated system testing approach, embedded in a Continuous Integration Server.

2014-12-31T00:00:00+00:00 Copyright (c) 2023 MORSE-HRI-Workshop 2014