Andrea Orlandini

Andrea Orlandini
Italian National Research Council | CNR · Institute of Cognitive Sciences and Technologies ISTC

PhD Computer Science and Automation

About

112
Publications
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1,319
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Publications

Publications (112)
Article
Full-text available
Introduction: Parkinson's disease (PD) is one of the most frequent causes of disability among older people, characterized by motor disorders, rigidity, and balance problems. Recently, dance has started to be considered an effective exercise for people with PD. In particular, Irish dancing, along with tango and different forms of modern dance, may b...
Article
Full-text available
This article is a retrospective overview of work performed in the domain of Active Assisted Living over a span of almost 18 years. The authors have been creating and refining artificial intelligence (AI) and robotics solutions to support older adults in maintaining their independence and improving their quality of life. The goal of this article is...
Article
Full-text available
Technology supported assistance is a research area dedicated to support both older adults and, at some level, their caregivers in a variety of situations and contexts. A number of projects doing detailed evaluation both with robots and/or ICT-based intelligent devices have identified as open challenges the need to guarantee both continuity and vari...
Conference Paper
A key aspect of robotic assistants is their ability to contex-tualize their behavior according to different needs of assis-tive scenarios. This work presents an ontology-based knowledge representation and reasoning approach supporting the synthesis of personalized behavior of robotic assistants. It introduces an ontological model of health state an...
Conference Paper
Socially assistive robots should provide users with personalized assistance within a wide range of scenarios such as hospitals, home or social settings and private houses. Different people may have different needs both at the cognitive/physical support level and in relation to the preferences of interaction. Consequently the typology of tasks and t...
Preprint
Full-text available
Combining task and motion planning efficiently in human-robot collaboration (HRC) entails several challenges because of the uncertainty conveyed by the human behavior. Tasks plan execution should be continuously monitored and updated based on the actual behavior of the human and the robot to maintain productivity and safety. We propose control-base...
Article
Full-text available
Socially assistive robotics aims at providing users with continuous support and personalized assistance, through appropriate social interactions. The design of robots capable of supporting people in heterogeneous tasks, raises several challenges among which the most relevant are the need to realise intelligent and continuous behaviours, robustness...
Conference Paper
Full-text available
The diffusion of Human-Robot Collaborative cells is prevented by some barriers. Classical control approaches seem not yet fully suitable for facing variability conveyed by the presence of human operators beside robots. Heterogeneous knowledge representation capabilities and abstract reasoning are crucial to enhance flexibility of control solutions....
Chapter
During the last decade, industrial collaborative robots have entered assembly cells supporting human workers in repetitive and physical demanding operations. Such human-robot collaboration (HRC) scenarios entail many open issues. The deployment of highly flexible and adaptive plan-based controllers is capable of preserving productivity while enforc...
Article
In timeline-based planning, domains are described as sets of independent, but interacting, components, whose behaviour over time (the set of timelines) is governed by a set of temporal constraints. A distinguishing feature of timeline-based planning systems is the ability to integrate planning with execution by synthesising control strategies for f...
Chapter
The ultimate goal of automated planning is the execution of plans by an artificial agent in the environment. When interactions and collaboration with humans are considered, robust plan execution requires even more highly flexible and adaptable control capabilities in artificial agents. Therefore, plan-based controllers should effectively deal with...
Conference Paper
Timeline-based Planning and Scheduling (P&S) usually deals with two main sources of uncertainty: some components may depend on an external environment and cannot be planned; there may be tasks whose duration cannot be exactly foreseen in advance. Such uncertainties are formally defined and consequent controllability issues have been addressed, focu...
Preprint
Full-text available
This paper discusses the problem of integrating Planning and Scheduling solving techniques when complex resource constraints are taken into account. Although many researchers have addressed this kind of problems even in challenging real-world scenarios, an efficient and robust integration of these techniques still represents an open research issue....
Conference Paper
Social Robotics is a research field aiming at designing robots able to interact with people in a natural manner. Within the domain of Socially Assistive Robotics the capability of adapting and personaliz- ing behaviors and assistive services of robots, according to the specific assistive context and needs of a person is crucial to improve the effi-...
Article
Full-text available
Modern production systems are increasingly using artificial agents (e.g., robots) of different kinds. Ideally, these agents should be able to recognize the state of the world, to act optimizing their work toward the achievement of a set of goals, to change the plan of action when problems arise, and to collaborate with other artificial and human ag...
Chapter
Modern automation systems are asked to provide a step change toward flexibility and reconfigurability to cope with increasing demand for fast changing and highly fragmented production—which is more and more characterising the manufacturing sector. This reflects in the transition from traditional hierarchical and centralised control architecture to...
Chapter
Recent technological advancements in Internet of Things and Cyber-Physical systems are fostering the diffusion of smart environments relying on sensor networks. Indeed, large and heterogeneous amount of data can be provided by sensors deployed in user environments providing valuable knowledge to address different user needs and enabling more effect...
Chapter
IoT technology integrated in smart home environments produces a huge and heterogeneous amount of data that can be used to characterize events that occur inside an environment as well as activities that a person is performing. The knowledge that can be extracted from such data can be used to proactively facilitate the daily living of the person with...
Chapter
A new generation of Intelligent Robots are entering our working and living environments, taking care of human-level tasks. Such robotic systems are becoming more and more important also in healthcare assistance for elderly. Indeed, recent advancements in Artificial Intelligence and Robotics are fostering the diffusion of robotic agents with the cap...
Chapter
The deployment of autonomous robots capable to both socially interact and proactively offer support to human users in a common life scenario remains challenging despite the recent technical advancements. For instance, research for endowing autonomous robots with the capability of acting in “non-ideal” and partially observable environments as well a...
Preprint
Full-text available
In timeline-based planning, domains are described as sets of independent, but interacting, components, whose behaviour over time (the set of timelines) is governed by a set of temporal constraints. A distinguishing feature of timeline-based planning systems is the ability to integrate planning with execution by synthesising control strategies for f...
Conference Paper
This paper describes how explicit resource reasoning is added within an existing temporal planning framework that uses timelines as plan representation. The work is grounded on a recent formalization of timeline-based planning that here is extended to model and reason over resources. The formal account is then fully implemented as an extension of t...
Poster
Full-text available
This paper describes how explicit resource reasoning is added within an existing temporal planning framework that uses timelines as plan representation. The work is grounded on a recent formalization of timeline-based planning that here is extended to model and reason over resources. The formal account is then fully implemented as an extension of t...
Article
This article describes a systematic investigation on the expectations of potential users of Ambient Assisted Living (AAL) technologies.More specifically it describes the efforts made to elicit users expectations for services of an AAL system that aims to both monitor older people fostering their independent living and preventing dangerous situation...
Article
Full-text available
Recent advances in Artificial Intelligence (AI) are facilitating the deployment of intelligent systems in manufacturing. In Human-Robot Collaboration (HRC), industrial robots offer accuracy and efficiency while humans guarantee both experience and specialized and not replaceable skills. The seamless coordination of such different abilities constitu...
Chapter
This paper presents a novel planning framework, called PLATINUm that advances the state of the art with the ability of dealing with temporal uncertainty both at planning and plan execution level. PLATINUm is a comprehensive planning system endowed with (i) a new algorithm for temporal planning with uncertainty, (ii) heuristic search capabilities gr...
Poster
Full-text available
This paper presents a novel planning framework, called PLATINUm that advances the state of the art with the ability of dealing with temporal uncertainty both at planning and plan execution level. PLATINUm is a comprehensive planning system endowed with (i) a new algorithm for temporal planning with uncertainty, (ii) heuristic search capabilities gr...
Article
This volume contains the proceedings of the Eighth International Symposium on Games, Automata, Logic and Formal Verification (GandALF 2017). The symposium took place in Roma, Italy, from the 20th to the 22nd of September 2017. The GandALF symposium was established by a group of Italian computer scientists interested in mathematical logic, automata...
Article
Introduction: This article describes an enhanced telepresence robot named ROBIN, part of a telecare system derived from the GIRAFFPLUS project for supporting and monitoring older adults at home. ROBIN is integrated in a sensor-rich environment that aims to continuously monitor physical and psychological wellbeing of older persons living alone. The...
Article
Step-changes in safety technologies have opened robotic cells to human workers in real industrial scenarios. However, the lack of methodologies for a productive and effective motion planning and scheduling of human–robot cooperative (HRC) tasks is still limiting the spread of HRC systems. Standard methods fail due to the high-variability of the rob...
Conference Paper
This paper describes the work done on a telepresence robot named GIRAFF and part of a telecare AAL system derived from the GIRAFFPLUS project for supporting and monitoring elderly people at home. Specifically, from the long term trials in real houses, a number of user requirements have emerged that inspired changes and improvements on the robotic p...
Article
Full-text available
This article reports on the EU project ExCITE with specific focus on the technical development of the telepresence platform over a period of 42 months. The aim of the project was to assess the robustness and validity of the mobile robotic telepresence (MRP) system Giraff as a means to support elderly people and to foster their social interaction an...
Chapter
The “timeline-based” is a particular paradigm of temporal planning that has been successfully applied in many real-world scenarios. Different timeline-based planning systems have been developed, each using its own planning specification language and solving techniques. An analysis of the differences between such kind systems has not been addressed...
Article
Full-text available
Planning for real world problems with explicit temporal constraints is a challenging problem. Among several approaches, the use of flexible timelines in Planning and Scheduling has been shown to be successful in a number of concrete applications, such as, for instance, autonomous space systems. This paper builds on previous work and presents a revi...
Conference Paper
Ambient Assisted Living (AAL) systems should offer services to the users that should be designed, tested, and delivered in real scenarios to gain robustness. This paper explores the issues of creating end-to-end services for older adults and their caregivers deploying an AAL system at home. It describes the work done for designing added value servi...
Conference Paper
The paper describes a novel use of planning in Reconfigurable Manufacturing. Authors considered the nodes of a manufacturing plant as individual AI-based agents able to reason on continuously updated representation of their domain model, plan their own actions, and execute them. The paper aims at clarifying the role of planning, its connection with...
Conference Paper
Planning is a core field of Artificial Intelligence since its beginnings. Broadly speaking, planning techniques aim at providing artificial agents with the capability to autonomously solve " complex " problems. Several planning techniques have been introduced in the literature that employ different approaches for modeling and solving planning probl...
Preprint
Full-text available
Planning is a core field of Artificial Intelligence since its beginnings. Broadly speaking, planning techniques aim at providing artificial agents with the capability to autonomously solve ”complex” problems. Several planning techniques have been introduced in the literature that employ different approaches for modeling and solving planning problem...
Article
Full-text available
Telepresence robotic systems are proposed in different contexts and specifically in the area of social robotics for assisting older adults at home. Similarly to other robotic systems, such robots are often designed and then evaluated in laboratory settings for a limited period of time. Lab-based evaluations present limitations because they do not t...
Book
Full-text available
The goal of the Italian workshop series on Artificial Intelligence and RObotics (AIRO) is to present, discuss and assess recent advances in the deployment of Artificial Intelligence (AI) methods in Robotics. Indeed, AI principles and methods play a crucial role in several areas of the robotics research (e.g. field, service, social robotics, etc.) a...
Chapter
A key enabling feature to deploy a plan-based application for solving real world problems is the capability to integrate Planning and Scheduling (P&S) in the solving approach. Flexible Timeline-based Planning has been successfully applied in several real contexts to solve P&S problems. In this regard, we developed the Extensible Planning and Schedu...
Conference Paper
Robust plan execution in uncertain and dynamic environments is a critical issue for plan-based autonomous systems, especially when uncertain events coexist with temporal flexibility. In this regard, many Planning and Scheduling systems model temporal uncertainty by means of flexible timelines, each of which describes the behavior of one of the syst...
Article
The reconfigurability feature represents an instrumental characteristic for manufacturing systems that are required to frequently adapt the architecture and functionalities to match evolving production environment where changes of product variants and demand volumes frequently occur. Transportation systems embrace a major industrial application of...
Chapter
Full-text available
This paper explores the issue of creating end-to-end services for older adults and their caregivers starting from a continuous gathering of sensor data from their living environment. The described work is part of the GiraffPlus project in which an intelligent AAL environment has been developed. The whole system relies on a state-of-the-art middlewa...
Chapter
Full-text available
This paper presents the outcome of the Workshop on Robot Interface Design, which was held in Genoa (Italy) over the months of January and February 2014 and was jointly organized by Polytechnic School at the University of Genoa and the National Research Council. The aim of the workshop was to study the design of physical, functional and graphical in...
Chapter
The GiraffPlus home environment represents a complete AAL system that gathers environmental and physiological measures from distributed sensors for continuous monitoring of an older person. A key point of innovation in the project is the synthesis of reasoning services on the gathered data. Among those services the personalisation of feedback messa...
Conference Paper
Full-text available
The paper describes a knowledge-based control loop as the key feature of a generic control architecture for nodes in a Reconfigurable Transportation Systems (RTSs). In particular, two main aspects are presented: (i) the design of an ontology-based representation of information related to both internal configurations/capabilities of a node and the a...
Article
Reconfigurable Transportation Systems (RTSs) are conceived as multiple independent modules to implement alternative inbound logistic systems’ configurations. Together with mechatronic interfaces and distributed control solutions, the full exploitation of RTS plug&produce features rely on flexible production management policies. The current work pro...
Article
Thanks to the advances in Artificial Intelligence (AI), and in particular in automated planning & scheduling and execution, goal-oriented controllers have being developed to test degrees of autonomy for robotics systems in challenging scenarios. Despite these efforts, there is a lack of methodology for approaching the design of deliberative systems...
Conference Paper
Full-text available
This paper presents the mid-term outcome of the Generic Evolutionary Control Knowledge-based mOdule (GECKO) research project, i.e., a layered architecture to implement a cooperative model-based control agent for a Reconfigurable Transportation System (RTSs). A manufacturing plant is here conceived as multiple independent modules to implement altern...
Conference Paper
Full-text available
Planning for real world problems with explicit temporal constraints is a challenging problem. Among several approaches, the use of flexible timelines in Planning and Scheduling (P&S) has demonstrated to be successful in a number of concrete applications, such as, for instance, autonomous space systems. A flexible timeline describes an envelope of p...
Chapter
Full-text available
This chapter presents a telehealth system called GiraffPlus supporting independent living of elderly in their own home. GiraffPlus system is a complex system which monitors activities and physiological parameters in the home using a network of sensors. The elaborated information is presented to the primary user, the elderly, and to secondary users...
Conference Paper
Full-text available
This paper presents an overview of the use of planning and execution techniques in nodes of a Reconfigurable Transportation Systems (RTSs). A manufacturing plant is here conceived as multiple independent modules to implement alternative inbound logistic systems' configurations. To support this capability of the robotic hardware, an integrated solut...
Article
A planning and scheduling (P&S) system takes as input a domain model and a goal, and produces a plan of actions to be executed, which will achieve the goal. A P&S system typically also offers plan execution and monitoring engines. Due to the non-deterministic nature of planning problems, it is a challenge to construct correct and reliable P&S syste...
Chapter
Full-text available
This paper presents an ongoing effort to create added value complete services for end users on top of an AAL continuous data gathering environment. It first presents the general architecture proposed by the GiraffPlus project for long term monitoring of older users at home, then describes the main choices concerning the middleware (universAAL compl...
Chapter
Full-text available
The paper presents the current findings of an almost one-year case study of fielding the Giraff robot in a real home. The testing phase, which is still running, involves an older user, affected by Parkinsons disease, and his family, in the daily usage of a telepresence robot. Initial evidence show that Giraff has become part of the daily routine of...
Conference Paper
Knowledge Engineering environments aim at simplifying direct access to the technology for system designers, and the integration of Validation and Verification (V&V) capabilities in such environments may potentially enhance the users trust in the technology. In particular, V&V techniques may represent a complementary technology with respect to Plann...
Chapter
Highly automated production systems are conceived to efficiently handle evolving production requirements. This concerns any level of the system from the configuration and control to the management of production. The proposed work deals with the production scheduling level. The authors present an AI-based online scheduling controller for Reconfigura...
Conference Paper
Full-text available
Safety critical planning and execution is a crucial issue in autonomous systems. This paper proposes a methodology for control