Browsing by Author "Akli, Isma"

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    Automated planning for mobile manipulators using passive RFID tags
    (IEEE, 2019) Djezairi, Salim; Boushaki Zamoum, Razika; Akli, Isma; Bouzouia, Brahim; Kouzou, Abdellah
    Robots are widely used in factories to replace human in tedious or dangerous tasks. The manipulators are very effective in achieving specific and repetitive tasks. However, with the recent progress in robotics, robots need to perform more complex tasks such as part feeding and servicing requiring high level planning to find efficient plans. Mobile Manipulators are ideal for these applications because they have a large workspace. This paper proposes an approach based on a Layered Task Planning for mobile manipulators. It uses information from the passive RFID tags to generate near optimal plans. Passive RFID tags are used in order to achieve full automation. They are a cheap way to encode information on the instances of the environment. The approach is tested in a simulation environment to achieve the task of part feeding in an industrial environment
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    Basic mobile robot prototyping using RFID
    (IEEE, 2022) Akli, Isma; Boukari Alidou, Halimatou; Chekir, Amira
    Robotic platforms use RFID (Radio Frequency IDentification) technology in various fields of application (industrial, service, etc.). RFID tags can stores many information about the environment such as type of obstacles and their dimensions, humans, robots types, etc. Robot motion guided with RFID, has, thus, a tags stored data based behavior This article presents the design and the implementation of hardware and software architectures of a basic mobile robot prototype moving with RFID. The actions (walk straight, turn left/right etc.) executed by the mobile robot depend on data stored on the RFID tags. The proposed hardware architecture is based on a Raspberry Pi (single-board nano computer) for sending commands to the actuators and receiving sensorial data, and the Arduino controller-based development board for the low level control. The software architecture is based on Robot Operating System (ROS) nodes for the implementation and approach execution. The proposed architecture provides a fully functional and scalable system with integrating RFID technology
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    Layered task planning for mobile manipulators
    (Elsevier, 2019) Djezairi, Salim; Boushaki Zamoum, Razika; Akli, Isma; Bouzouia, Brahim
    Task planning for mobile manipulators is a challenging problem in robotics. Mobile ma- nipulators can perform a wide range of tasks in complex environments. They must process the symbolic knowledge in order to find a sequence of actions that achieves the specified goals. This paper proposes a hybrid approach named Planning with Shortcuts. It uses a data structure called Layered Task Graph (LTG) which groups primitive actions, robot skills and task patterns in a strictly hierarchical manner. It then uses the LTG to create shortcuts in the state space in order to accelerate the search. A task planner is called to find a set of actions that achieves the goal task. The result of the search is a sequence of high level actions and primitive actions. The high level actions are then decomposed using the task decomposition approach.
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    Mission allocation and execution for human and robot agents in industrial environment
    (IEEE, 2018) Djezairi, Salim; Akli, Isma; Boushaki Zamoum, Razika; Bouzouia, Brahim