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The INRIA Robotics Teams Propose a

Large-Scale Initiative Action

“Personally Assisted Living”

March 18, 2009

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LSIA Personally Assisted Living “The aim of the Large-scale Initiative Actions Program is to achieve a specific level of scale for a research subject identified by the Institute with a direct link to its strategic plan and the defined milestones.”

• Assistance and Service Robotics in a Human Environment

• Independence for the Elderly and Disabled

INRIA Strategic Plan Key Challenges

Environment

Public Places Private Places

People

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Our Motivations

Other international initiatives

Co-Mobility, Japan, (Prof Kawashima, Keio Univ.) Development of communication and mobility aids for the elderly, specifically in rural areas.Quality of Life Technology (QoLT), USA, (Takeo Kanade, Carnegie Mellon and the Univ. of Pittsburgh) “Enable people who are aging and persons with disabilities to independently participate in the community”

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Actors: 12 INRIA TeamsInvolvement Level

Full participation (will drive the LSIA): 7 teams Task participation: 3 teamsLight participation (information + share expertise):

Cortex + Demar

PulsarPulsar

Prima Prima

FlowerFlower

ImaraImara

MaiaMaia

BipopBipop

MobilityMobility

PerceptionPerception

UnderstandingUnderstanding

InterfaceInterface

InteractionInteraction

ManipulationManipulation

E-motionE-motion

LagadicLagadic

ArobasArobas

CoprinCoprin

ModelingModeling

LocalizationLocalization

NavigationNavigation

CommunicationCommunication

Uncertainties Uncertainties

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Actors: External Participants

Field Experts: Key actors

2. Service Prescribers1. User Associations

Drive/Validate proposed actions• Architect

• Sociologist• Urban planner

• Doctor• Gerontologist• Physiotherapist …

External Research PartnersNational or International Teams

Provide Expertisein complementary area

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Call for Scenarios

1. Implication of Field Experts2. Cooperation between Teams3. Scientific impacts4. Strategy of Integration

Propositions should underline…Scenarios are open …

1. Within the area of the 2 Inria Milestones

2. To external team collaboration3. To incomplete partnership

- call for new participant - new research challenge

Validation through the run of full-scale # scenarios

Limits on the LSIA scientific areasSignificant and Relevant ApplicationsEnrollment of Complementary Teams Emergence of New Challenges

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Simple Scenario Example “An elderly falls at home. His health condition is

checked and possibly his mobility is restored”

Lift Assistance: Coprin, Lagadic

“His health condition

is checked”

“An elderly falls at home”

“possiblyhis mobility Is restored”

Splitting in Service Objects

Localization, map builder, 1+ mobile robot : Arobas, Maia

Check emotions : FlowersPreliminary diagnostic : Gerontologist, E-motion

health diagnostic

with appropriate

sensors

Lagadic, E-motion, Bipop

Outdoor scenario (Arobas, Imara, Lagadic, Maia …)

the diagnostic detect a problemDrive the elderly to hospital

Intelligent Building

Elderly monitoring Prima, Pulsar, Maia

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Summary

covers the scientific part of selected scenarios

Internship, Doc, Post-Doc

LSIA Large Scale Initiative Action

ADT Technological Development actionswill cover the implementation of the LSIA results

Local and National Platforms

Key Issues- Close collaboration between Robotics Teams and Field expert- Appropriated and efficient integration of solutions

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Teams expertise

1. Arobas: Advanced perception systems, localization and map building, sensor-based control, autonomous navigation, mobile manipulator coordination, control of critical systems

2. Bipop: Mobility, Interface, Core technologies3. Coprin: Appropriate Design, Interface Devices, Robotics Assistance,

Manipulation 4. E-motion: Open & dynamic environments, Reasoning under

uncertainty, Robust perception & navigation, Modeling & Learning Behaviors

5. Flower: Interface, Interaction, understanding6. Imara: Signal processing, Control of the vehicle, Communications,

Modeling, Control and optimisation of transport systems7. Lagadic: Computer vision, visual servoing8. Maia: Swarm robotics, Elderly monitoring (environmental, biological

sensors), Cognitive robotics9. Prima: Distributed Perception of Human Activity, Active

Environments, Interactive Environments, Situation Understanding10. Pulsar: Perception, activity recognition, Elderly monitoring