This paper presents extensions and improvements of previous work, where we defined a CBR system for action selection in the robot soccer domain. We show empirical results obtained with real robots, comparing our team playing approach with an individualist approach.

Learning by imitation is an essential process in human cognition. Recently, imitation learning has also become important in robotics research. We address the problem of learning by imitation in interactive, robotic agents using case-based reasoning. We describe two tasks for which case-based reasoning may be used: (i) interpretation, in which the robot interprets new skill demonstrations as bei...

This paper presents a mechanism for acquiring a case base for a CBR system that has to deal with a limited perception of the environment. The construction of case bases in these domains is very complex and requires mechanisms for autonomously adjusting the scope of the existing cases and for acquiring new cases. The work presented in this paper addresses these two goals: to find out the “right”...

Imitation is a well known method for learning. Case-based reasoning is an important paradigm for imitation learning; thus, case retrieval is a necessary step in case-based interpretation of skill demonstrations. In the context of a case-based robot that learns by imitation, each case may represent a demonstration of a skill that a robot has previously observed. Before it may reuse a familiar, s...

This paper addresses the problem of localization and map construction by a mobile robot in an indoor environment using only visual sensor information. Instead of trying to build high-fidelity geometric maps, we focus on constructing topological maps because they is less sensitive to poor odometry estimates and position errors. We propose a method for incrementally building topological maps for ...

– One of the important applications of robots is in material handling and transport of various shaped objects. In cases where an object cannot be directly grasped by the robot gripper, and must be carried by a hook, it may be subject to undesirable swings during transport. This paper presents an analytical method for minimizing the oscillation of a suspended object during transport. This method...

The voluntary process of Wikipedia edition provides an environment where the outcome is clearly a collective product of interactions involving a large number of people. We propose a simple agent-based model, developed from real data, to reproduce the collaborative process of Wikipedia edition. With a small number of simple ingredients, our model mimics several interesting features of real human...

The addition of a robot to a team can be difficult if the human teammates do not trust the robot. This can result in underutilization or disuse of the robot, even if the robot has skills or abilities that are necessary to achieve team goals or reduce risk. To help a robot integrate itself with a human team, we present an agent algorithm that allows a robot to estimate its trustworthiness and ad...

This paper presents the application of a Case-Based Reasoning approach to the selection and modification of behavioral assemblage parameters. The goal of this research is to reduce the process of defining a large set of robotic behaviors to defining only a small set of orthogonal behaviors. The case-based reasoning module selects a set of parameters for an active behavioral assemblage in real-t...

We propose a Case-Based Reasoning approach for action selection in the robot soccer domain presented in the 8th European Conference on Case-Based Reasoning (2006). Based on the current state of a game, the robots retrieve the most similar past situation and then the team reproduces the sequence of actions performed in that occasion. In this domain we have to deal with all the difficulties that ...