Joachim Hertzberg

Erich Rome

Georg Dorffner

Today’s mobile robot perception is insu?cient for acting goal-directedly in - constrained, dynamic everyday environments like a home, a factory, or a city. Subject to restrictions in bandwidth, computer power, and computation time, a robot has to react to a wealth of dynamically changing stimuli in such - vironments, requiring rapid, selective attention to decisive, action-relevant - formation of high current utility. Robust and general engineering methods for e?ectively and e?ciently coupling perception, action, and reasoning are unava- able. Interesting performance, if any, is currently only achieved by sophisticated robot programming exploiting domain features and specialties, which leaves - dinary users no chance of changing how the robot acts. The latter facts are high barriers for introducing, for example, service robots into human living or work environments. In order to overcome these barriers, additonal R&D e?orts are required. The European Commission is undert- ing a determined e?ort to fund related basic, inter-disciplinary research in a line of Strategic Objectives, including the Cognitive Systems calls in their 6th Framework Programme (FP6, [1]), and continuing in the 7th Framework P- gramme.OneofthefundedCognitiveSystemsprojectsisMACS(“multi-sensory autonomous cognitive systems interacting with dynamic environments for p- ceiving and using a?ordances”).

International Seminar, Dagstuhl Castle, Germany, June 5-9, 2006, Revised Papers

Towards Affordance-Based Robot Control

Today’s mobile robot perception is insufficient for acting goal-directedly in unconstrained, dynamic everyday environments like a home, a factory, or a city. Subject to restrictions in bandwidth, computer power, and computation time, a robot has to react to a wealth of dynamically changing stimuli in such environments, requiring rapid, selective attention to decisive, action-relevant information of high current utility. Robust and general engineering methods for effectively and efficiently coupling perception, action and reasoning are unavailable. Interesting performance, if any, is currently only achieved by sophisticated robot programming exploiting domain features and specialties, which leaves ordinary users no chance of changing how the robot acts. The purpose of this volume - outcome of a GI-Dagstuhl Seminar held in Dagstuhl Castle in June 2006 - is to give a first overview on the concept of affordances for the design and implementation of autonomous mobile robots acting goal-directedly in a dynamic environment. The aim is to develop affordance-based control as a method for robotics. The potential of this new methodology will be shown by going beyond navigation-like tasks towards goaldirected autonomous manipulation in the project demonstrators.

Robin Bloomfield

This book constitutes the proceedings of the 4th International Workshop on Critical Information Infrastructures Security, CRITIS 2009, held in Bonn, Germany, during September 30 to October 2, 2009.

Erich Rome

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