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Auflistung nach Autor:in "Kirchner, Frank"

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  • Zeitschriftenartikel
    Accounting for Task-Difficulty in Active Multi-Task Robot Control Learning
    (KI - Künstliche Intelligenz: Vol. 29, No. 4, 2015) Fabisch, Alexander; Metzen, Jan Hendrik; Krell, Mario Michael; Kirchner, Frank
    Contextual policy search is a reinforcement learning approach for multi-task learning in the context of robot control learning. It can be used to learn versatilely applicable skills that generalize over a range of tasks specified by a context vector. In this work, we combine contextual policy search with ideas from active learning for selecting the task in which the next trial will be performed. Moreover, we use active training set selection for reducing detrimental effects of exploration in the sampling policy. A core challenge in this approach is that the distribution of the obtained rewards may not be directly comparable between different tasks. We propose the novel approach PUBSVE for estimating a reward baseline and investigate empirically on benchmark problems and simulated robotic tasks to which extent this method can remedy the issue of non-comparable reward.
  • Zeitschriftenartikel
    eSLAM—Self Localisation and Mapping Using Embodied Data
    (KI - Künstliche Intelligenz: Vol. 24, No. 3, 2010) Schwendner, Jakob; Kirchner, Frank
    Autonomous mobile robots have the potential to change our everyday life. Unresolved challenges which span a large spectrum of artificial intelligence research need to be answered to progress further towards this vision. This article addresses the problem of robot localisation and mapping, which plays a vital role for robot autonomy in unknown environments. An analysis of the potential for using embodied data is performed, and the notion of direct and indirect embodied data is introduced. Further, the implications of embodied data for an embodied SLAM algorithm are investigated and set into a robotic context.
  • Zeitschriftenartikel
    iMRK: Demonstrator for Intelligent and Intuitive Human–Robot Collaboration in Industrial Manufacturing
    (KI - Künstliche Intelligenz: Vol. 31, No. 2, 2017) de Gea Fernández, José; Mronga, Dennis; Günther, Martin; Wirkus, Malte; Schröer, Martin; Stiene, Stefan; Kirchner, Elsa; Bargsten, Vinzenz; Bänziger, Timo; Teiwes, Johannes; Krüger, Thomas; Kirchner, Frank
    This report describes an intelligent and intuitive dual-arm robotic system for industrial human–robot collaboration which provides the basis for further work between DFKI (Robotics Innovation Center) and Volkswagen Group (Smart Production Lab) in the field of intuitive and safe collaborative robotics in manufacturing scenarios. The final robot demonstrator developed in a pilot project possesses multiple sensor modalities for environment monitoring and is equipped with the ability for online collision-free dual-arm manipulation in a shared human–robot workspace. Moreover, the robot can be controlled via simple human gestures. The capabilities of the robotic system were validated at a mockup of a gearbox assembly station at a Volkswagen factory.
  • Zeitschriftenartikel
    Intelligent Mobility
    (KI - Künstliche Intelligenz: Vol. 25, No. 2, 2011) Joyeux, Sylvain; Schwendner, Jakob; Kirchner, Frank; Babu, Ajish; Grimminger, Felix; Machowinski, Janosch; Paranhos, Patrick; Gaudig, Christopher
    Robotic systems for outdoor applications can play an important role in the future. Tasks like exploration, surveillance or search and rescue missions benefit greatly from increased autonomy of the available systems. Outdoor environments and their high complexity pose a special challenge for existing autonomous behaviour technologies in robots. Some of these challenges in the area of navigation, plan management and sensor integration are investigated in the Intelligent Mobility (iMoby) project at the DFKI. An introduction to the project goals and the current achievements is given. Further, an outlook towards the end of the project and beyond is provided.
  • Zeitschriftenartikel
    Interview mit Dr. Thomas Reiter
    (KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Kirchner, Frank
  • Zeitschriftenartikel
    Space Robotics: An Overview of Challenges, Applications and Technologies
    (KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Schwendner, Jakob; Kirchner, Frank
    While space exploration may be considered anything but dull, it certainly is very dangerous. Expanding our knowledge on the solar system to look for clues to such fundamental questions as the origins of life, or a sustained human presence on anything other than earth may well be worth the risk. The involved costs for mitigating the risk of human space flight are prohibitive. Robotic missions, like the hugely successful Mars Exploration Rovers, have shown that robotics as a sub-field of Artificial Intelligence can perform scientific exploration activities without human presence, and will play an even more prominent role in future mission scenarios. Worldwide technology research efforts are continuously expanding the capabilities of mobile robotic systems. This article provides an overview of the special conditions and examples of technological solutions for the development of space robots, as well as different fields of application.
  • Zeitschriftenartikel
    Special Issue on Space Robotics
    (KI - Künstliche Intelligenz: Vol. 28, No. 2, 2014) Kirchner, Frank