De nombreuses approches de conception d’applications robotiques ont été proposées ces dernières années. Si elles s’avèrent pertinentes pour le problème qu’elles résolvent, la plupart sont dépendantes de la plateforme ou du langage utilisé. Pour résoudre ce problème, l’utilisation de modèles formels pour la génération de scénarios ou d’activités est essentielle pour garantir une expérience de haute qualité.
Dans ce contexte, l’utilisation des réseaux de Petri ou des automates est très répandue. À partir de ce constat, le modèle formel CIT (Content Interaction Time) [44], consacré au développement d’applications robotiques interactives et basé sur des réseaux d’automates temporisés à entrées/sorties a été proposé.
Nous proposons donc, dans cet article, deux plateformes logicielles, CELTIC (Common Editor for Location Time Interaction and Content) et EDAIN (Execution Driver based on Artificial INtelligence), permettant une modélisation simplifiée et générique d’applications robotiques et leur supervision sur la base du modèle CIT.
Cette approche a été utilisée pour concevoir un jeu sérieux avec un robot humanoïde Nao. Ce jeu permet de faire découvrir de manière ludique au jeune public l’exposition dédiée à l’ethnographie au Muséum d’Histoire Naturelle de La Rochelle et l’exposition consacrée à l’archéologie au Musée Sainte Croix de Poitiers.
À l’issu de ces expérimentations, des problématiques d’adaptation dynamique du scénario ont été identifiées. Nous présenterons donc le début de nos réflexions sur l’intégration d’un algorithme d’apprentissage par renforcement permettant d’optimiser la valuation de certains paramètres contrôlant l’exécution du scénario.
Many approaches to the design of robotic applications have been proposed in recent years. If they are relevant to the problem they solve, most of them are platform or language dependent. To solve this problem, the use of formal models for scenario or activity generation is essential to ensure a high quality experience.
In this context, the use of Petri nets or automata is very widespread. Based on this observation, the formal model CIT (Content Interaction Time) [44], dedicated to the development of interactive robotic applications and based on networks of input/output timed automata has been proposed.
In this paper, we propose two software platforms, CELTIC (Common Editor for Location Time Interaction and Content) and EDAIN (Execution Driver based on Artificial INtelligence), allowing a simplified and generic modeling of robotic applications and their supervision based on the CIT model.
This approach was used to design a serious game with a humanoid robot Nao. This game allows young people to discover in a playful way the exhibition dedicated to ethnography at the Natural History Museum of La Rochelle and the exhibition dedicated to archaeology at the Sainte Croix Museum in Poitiers.
After these experiments, problems of dynamic adaptation of the scenario were identified. We will thus present the beginning of our reflections on the integration of a reinforcement learning algorithm allowing to optimize the parameters controlling the scenario’s execution.
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Keywords: Formal Modeling, Automaton, Robotics, Human-Robot Interaction.
Damien Mondou 1 ; Armelle Prigent 1 ; Arnaud Revel 1
CC-BY 4.0
@article{ROIA_2022__3_3-4_311_0,
author = {Damien Mondou and Armelle Prigent and Arnaud Revel},
title = {Mod\'elisation et supervision d{\textquoteright}applications robotiques interactives destin\'ees au milieu culturel},
journal = {Revue Ouverte d'Intelligence Artificielle},
pages = {311--344},
publisher = {Association pour la diffusion de la recherche francophone en intelligence artificielle},
volume = {3},
number = {3-4},
year = {2022},
doi = {10.5802/roia.33},
language = {fr},
url = {https://roia.centre-mersenne.org/articles/10.5802/roia.33/}
}
TY - JOUR AU - Damien Mondou AU - Armelle Prigent AU - Arnaud Revel TI - Modélisation et supervision d’applications robotiques interactives destinées au milieu culturel JO - Revue Ouverte d'Intelligence Artificielle PY - 2022 SP - 311 EP - 344 VL - 3 IS - 3-4 PB - Association pour la diffusion de la recherche francophone en intelligence artificielle UR - https://roia.centre-mersenne.org/articles/10.5802/roia.33/ DO - 10.5802/roia.33 LA - fr ID - ROIA_2022__3_3-4_311_0 ER -
%0 Journal Article %A Damien Mondou %A Armelle Prigent %A Arnaud Revel %T Modélisation et supervision d’applications robotiques interactives destinées au milieu culturel %J Revue Ouverte d'Intelligence Artificielle %D 2022 %P 311-344 %V 3 %N 3-4 %I Association pour la diffusion de la recherche francophone en intelligence artificielle %U https://roia.centre-mersenne.org/articles/10.5802/roia.33/ %R 10.5802/roia.33 %G fr %F ROIA_2022__3_3-4_311_0
Damien Mondou; Armelle Prigent; Arnaud Revel. Modélisation et supervision d’applications robotiques interactives destinées au milieu culturel. Revue Ouverte d'Intelligence Artificielle, Volume 3 (2022) no. 3-4, pp. 311-344. doi : 10.5802/roia.33. https://roia.centre-mersenne.org/articles/10.5802/roia.33/
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