Towards Multimodal Sensing and Interaction for Assistive Autonomous Robots

Emanuele De Pellegrin*, Ronnie Smith, Scott MacLeod, Mauro Dragone, Ronald P. A. Petrick

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Assistive environments that combine sensors, actuators, and robotic devices have gained attention in recent years, with the potential to provide assistance and support to individuals with disabilities or to the ageing population. One key challenge in designing autonomous assistive environments is to accurately recognise and understand the user’s goals and intentions. To address these challenges, we propose a system with a goal recognition and planning loop that uses data collected from sensors embedded in an assistive environment. We present the general architecture of the system, highlighting the key components available at the time of writing, plus the proposed extensions for the long-term goal of the project. We present data collected in a smart kitchen used by the activity recognition system, as well as a custom tool to simulate and test the data.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems. TAROS 2023
EditorsFumiya Iida, Arsen Abdulali, Perla Maiolino, Mingfeng Wang
Number of pages12
ISBN (Electronic)9783031433603
ISBN (Print)9783031433597
Publication statusPublished - 8 Sept 2023
Event24th Annual Conference Towards Autonomous Robotic Systems 2023 - Cambridge, United Kingdom
Duration: 13 Sept 202315 Sept 2023

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference24th Annual Conference Towards Autonomous Robotic Systems 2023
Abbreviated titleTAROS 2023
Country/TerritoryUnited Kingdom


  • Ambient Intelligence
  • Proactivity
  • Robotics

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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