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Probabilistic Reasoning Decision Values and Predictions for Advanced Task Planning in Robotics

 

Probabilistic Reasoning Decision Values and Predictions for Advanced Task Planning in Robotics

 

 


bv taskplanning

 

The main objective of the EU project Sharework is to enable a much closer cooperation between humans and robots in industrial environments. This requires the development of systems with a certain degree of "intelligence". A crucial part of these systems is the task planning, for which the IGMR is currently developing a state-of-the-art framework using advanced task planning algorithms for human-robot collaboration (HRC) scenarios.


In the context of this final thesis a module for the framework is to be developed, in which the information about the current state of the environment and about the current plan must be processed in probabilistic, spatial and temporal reasoning algorithms (e.g. Bayesian networks) in order to create decision values and predictions. The outputs of this module will be used as triggers in the main planner. The framework is mainly written in C++ and uses ROS (Robot Operating System). For testing and validation the existing simulation environment in Gazebo shall be used.

 

Type of Thesis:

  • Bachelorthesis
  • Masterthesis

 

Workpackages:

  • Familiarization with ROS (Robot Operating System)
  • Literature research on Probabilistic Reasoning combined with AI planning (in Robotics)
  • Development of concepts and the implementation of the module
  • Execution of tests and validations of the developed features in simulations

 

Requirements:

  • CES, Automation Engineering, Mechanical Engineering or similar
  • Basic Knowledge in in C++ (mandatory)
  • Experience with ROS and Ubuntu (preferable)
  • Good Knowledge of Probability Theory 
  • Basic Knowledge in Probabilistic Reasoning (preferable)

 

We offer:

  • Flexible design of the main areas of work
  • Insight into state-of-the-art robotics research topics within the framework of the EU project Sharework
  • Collaboration in a team of students developing the framework together

 

Contact Person:

  • Stefan Bezrucav - - Tel.: 0241 80 98997

KONTAKT


Institut für Getriebetechnik, Maschinendynamik und Robotik

RWTH Aachen

Steinbachstraße 53B

52074 Aachen

 

Tel.: +49 (0)241 80 95546

Fax:  +49 (0)241 80 92263

Mail: 

SOZIALE MEDIEN


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