Dr Torbjorn Dahl
Profiles

Dr Torbjorn Dahl

Lecturer in Software Engineering

School of Computing, Electronics and Mathematics (Faculty of Science & Engineering)

Qualifications

2004 - 2012 Reader and Founding Director of the Cognitive Robotics Research Centre at the University of Wales, Newport
2002 - 2004 Research Scientist and Project Leader at the Norwegian Defence Research Establishment
2000 - 2002 Post-doc at the University of Southern California
1997 - 2000 PhD student, University of Bristol 
1993 - 1997 MEng (Knowledge and AI) student, Imperial College, London  

Professional membership

Member of IEEE, ACM, HEA

Teaching interests

My teaching interests include computer systems, software development and engineering, artificial intelligence, machine learning and robotics.

Staff serving as external examiners

External examiner, Qiming Shen, University of Hertfordshire, 2013
External examiner, William Mepham, University of Glamorgan, 2010
External examiner, Panus Nattharith, Newcastle University, 2010
External examiner, Fei Chao, Aberystwyth University, 2009

Research interests

My research interests are in the areas of autonomous and tele-operated robots, in particular in the domains of tele-assisted living and robot football.

My research focuses on behavior-based architectures and Internet-enabled robots and develops novel neural network architectures (for reinforcement learning), behaviours and user/operator interfaces.

Research degrees awarded to supervised students

PhD, Eric Llewellyn, University of Wales, Newport, 2009
PhD, Md Omar Faruque Sarker, University of Wales, Newport, 2010

Grants & contracts

Computer Vision for Automated Fault Detection, Prince of Wales Innovation Scholarship (POWIS) Award, University of Wales/Sony Ltd., 2010-2013, GBP 75,000

RC4EW (RoboCup Exhibition and Engagement Event, Eisteddfod of Wales) 2010, Welsh Government/Blaneau-Gwent Borough Council, 2010, GBP 60,000

ROBOSKIN: Skin-based technologies and capabilities for safe, autonomous and interactive robots, EC FP7 ref. 231500 2009-2012, EUR 3.56 million

Defying the rules: How energent systems work, EPSRC ref. EP/E061982/1, 2007-2010, GBP 480,000

Journal Articles

Georgios Pierris and Torbjørn S. Dahl, Humanoid Tactile Gesture Production using a Hierarchical SOM-based Encoding. In submission to the IEEE Transactions on Autonomous Mental Development, April, 2013.

Jie Ma and Torbjørn S. Dahl, Towards Generic Humanoid Interfaces: Cross Platform Capabilities for Robot Arms with Skin In submission to the Journal of Software Engineering for Robotics, April, 2013.

Md Omar Faruque Sarker and Torbjørn S. Dahl, Local interactions over global broadcasts for improved task allocation in self-organized multi-robot systems. In submission to Robotics and Autonomous Systems, April, 2013.

Elsa Arcaute, Kim Christensen, Ana Sendova-Franks, Torbjørn S. Dahl, Angela Espinosa and Henrik J. Jensen, Division of labour in ant colonies in terms of attractive fields. In Ecological Complexity, 6(4):396-402, December, 2009.

Torbjørn S. Dahl, Maja J Mataric´ and Gaurav S. Sukhatme, Multi-Robot Task Allocation through Vacancy Chain Scheduling. In Journal of Robotics and Autonomous Systems, 57(6):674-687, Elsevier, June 2009.

Torbjørn S. Dahl and Christophe Giraud-Carrier, Incremental Development of Adaptive Behaviors using Trees of Self-Contained Solutions. In Adaptive Behavior, 13:243-260, September, 2005.

Book Chapters

Aude Billard, Annalisa Bonfiglio, Giorgio Cannata, Piero Cosseddu, Torbjørn S. Dahl, Kerstin Dautenhahn, Fulvio Mastrogiovanni, Giorgio Metta, Lorenzo Natale, Ben Robins, Lucia Seminara and Maurizio Valle, The ROBOSKIN Project: Challenges and Results. In Romansy 19 – Robot Design, Dynamics and Control, CISM International Centre for Mechanical Sciences Volume 544, Vincent Padois, Philippe Bidaud, and Oussama Khatib (Eds.), pp351-358, Springer, 2013.

Torbjørn S. Dahl and Alexandros Paraschos, A force-distance model of humanoid arm withdrawal reflexes. In Advances in Autonomous Robotics, Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, Lecture Notes in Computer Science Volume 7429, Guido Herrmann, Matthew Studley, Martin Pearson, Andrew Conn, Chris Melhuish, Mark Witkowski, Jong-Hwan Kim, and Prahlad Vadakkepat (Eds.), pp13-24, Bristol, UK, August 20-23, 2012.

Torbjørn S. Dahl, Erick A. R. Swere and Andrew Palmer, Touch-Triggered Withdrawal Reflexes for Safer Robots. In New Frontiers in Human-Robot Interaction, Kerstin Dautenhahn and Angelo Cangelosi (Eds.), John Benjamins Publishing Company, pp281-304, 2011.

Md Omar Faruque Sarker and Torbjørn S. Dahl, Bio-Inspired Communication for Self-Regulated Multi-Robot Systems. In Multi-Robot Systems, Trends and Development, Toshiyuki Yasuda (Ed.), Intech, pp367-392, 2011.

Md Omar Faruque Sarker and Torbjørn S. Dahl, Robotic Validation of an Inter-disciplinary Generic Model of Self-regulated Division of Labour in Social Systems. In the Proceedings of the International Conference on Swarm Intelligence (ANTS'2010), LNCS 62354, Marco Dorigo, Mauro Birattari, Gianni A. Di Caro, René Doursat, Andrieas P. Engelbrecht, Dario Floreano, Luca Maria Gambardella, Roderich Groß, Erol Şahin, Hiroki Sayama, Thomas Stützle (Eds.), Springer, pp24-35, Brussels, Belgium, September 8-10, 2010.

Torbjørn S. Dahl, Maja J Mataric´ and Gaurav S. Sukhatme, Emergent Robot Differentiation in Distributed Multi-Robot Task Allocation. To appear in Distributed Autonomous Robotic Systems 6, Proceedings of the 7th International Symposium on Distributed Autonomous Robotic Systems (DARS'04), Toulouse, France, June 23 - 25, 2004, Richard Alami, Raja Chatila, Hajime Asama (Eds.), pp201-210, ISBN 4431358692, Springer, 2007.

Torbjørn S. Dahl, Maja J Mataric´ and Gaurav S. Sukhatme, A machine learning method for improving task allocation in distributed multi-robot transportation. In Understanding Complex Systems: Science Meets Technology, Dan Braha, Ali Minai, and Yaneer Bar-Yam (Eds.), pp307-337, ISBN 3540328319, Springer, June, 2006.

Refereed Conference and Workshop Articles

Peter Gibbons, Torbjørn S. Dahl and Owain Jones, Identification and Production of “Simple” Tactile Gestures. In the Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI’12) Workshop on Advances in Tactile Sensing and Touch based Human-Robot Interaction, Boston, Massachussetts, March 5-8, 2012.

Michael Roe, Kerstin Dautenhahn, Daniel Polani, Torbjorn Dahl, and Peter Gibbons Reconstructing a Robot’s Topology from Sensor Data In the Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI’12), Workshop on Advances in Tactile Sensing and Touch based Human-Robot Interaction, Boston, Massachussetts, March 5-8, 2012.

Torbjørn S. Dahl, Hierarchical Traces for Reduced NSM Memory Requirements. In the Proceedings of the BCS SGAI International Conference on Artificial Intelligence, pp165-178, Cambridge, UK, December 14-16, 2010.

Georgios Pierris and Torbjørn S. Dahl, Compressed Sparse Code Hierarchical SOM on Learning and Reproducing Gestures in Humanoid Robots. In the Proceedings of the IEEE International Symposium in Robot and Human Interactive Communication (RO-MAN'10), pp350-355, Viareggio, Italy, September 12-15, 2010.

Md Omar Faruque Sarker and Torbjørn S. Dahl, Flexible Communication in Multi-robotic Control System Using HEAD: Hybrid Event-driven Architecture on D-Bus, In the Proceedings of the UKACC International Conference on CONTROL 2010, pp926-931, Coventry, UK, September 7-10, 2010.

Torbjørn S. Dahl and Andrew Palmer, Touch-Triggered Protective Reflexes for Safer Robots. In the Proceedings of the International Symposium on New Frontiers in Human-Robot Interaction (AISB'10), pp27-33, Leicester, UK, 31 March - 1 April, 2010.

Andrew Palmer and Torbjørn S. Dahl, Single Camera Depth Estimation in Humanoid Robots using Head Movements. Presented at the British Machine Vision Association (BMVA) Technical Meeting on Robotics and Vision, London, UK, 24 March, 2010.

Md Omar Faruque Sarker and Torbjørn S. Dahl, Communication Strategies for Self-Regulated Division of Labour in Robot Society. In the Proceedings of the 2009 European Conference on Complex Systems (ECCS'09), pp157-158, Warwick, UK, September 21-25, 2009.

Torbjørn S. Dahl and Sowkya Barige, Crude Corrective Movements for Humanoid Reaching Learning, In the Proceedings of Towards Autonomous Robotic Systems (TAROS'09), pp223-228, Londonderry, UK, August 31 – September 3, 2009.

Torbjørn S. Dahl and Christophe Giraud-Carrier, Evolution-inspired incremental development of complex autonomous intelligence. In the proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS'04), Frans Groen, Nancy M. Amato, Andrea Bonarini, Eiichi Yoshida and Ben Kröse (Eds.), pp395-402, IOS Press, Amsterdam, The Netherlands, March 10 - 13, 2004.

Torbjørn S. Dahl, Maja J Mataric´ and Gaurav S. Sukhatme, Multi-Robot Task Allocation through Vacancy Chains. In the Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA'03), pp2293-2298, Taipei, Taiwan, September 14 - 19, 2003.

Torbjørn S. Dahl, Maja J Mataric´ and Gaurav S. Sukhatme, Adaptive Spatio-Temporal Organization in Groups of Robots. In the Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'02), pp1044-1049, Lausanne, Switzerland, September 30 - October 4, 2002.

Torbjørn S. Dahl and Christophe Giraud-Carrier, Evolution, Adaptation, and Behavioural Holism in Artificial Intelligence. In the Proceedings of the 6th European Conference on Artificial Life (ECAL'01), pp499-508, Prague, Czech Republic, September 10-14, 2001.

Torbjørn S. Dahl and Christophe Giraud-Carrier, PLANCS: Classes for Programming Adaptive Behaviour Based Robots. In the Proceeedings of the 2001 Convention on Artificial Intelligence and the Simulation of Behaviour (AISB'01), Symposium on Nonconscious Intelligence: From Natural to Artificial, pp9-20, York, UK, March 21 - 24, 2001.

Torbjørn S. Dahl, The Eel Programming Language and Internal Concurrency in Logic Agents. In the Proceedings of the Workshop on Multi-Agent Systems in Logic Programming, (ICLP'99) , November 29 - December 4, Las Cruces, New Mexico, 1999.

Siani Pearson, Chris W. Preist, Torbjørn S. Dahl and Eric deKroon, An Agent-Based Approach to Task Allocation in a Computer Support Team. In the Proceedings of the Second International Conference on the Practical Application of Intelligent Agents and Multi-Agent Technology (PAAM'97), pp365-380, London, UK, April 21-23, 1997.

Torbjørn S. Dahl, Siani Pearson, and Chris W. Preist, An agent-Based System for Task Allocation Using Object Oriented Prolog. In the Proceedings of the Fifth International Conference on the Practical Application of Prolog (PAP'97), pp117-132, London, UK, April 21-23, 1997.