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2 edition of High-level robot programming in dynamic and incompletely known environments. found in the catalog.

High-level robot programming in dynamic and incompletely known environments.

Mikhail Soutchanski

High-level robot programming in dynamic and incompletely known environments.

by Mikhail Soutchanski

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Published .
Written in English


About the Edition

This thesis advocates the usefulness and practicality of a logic-based approach to AI and in particular to high-level control of mobile robots. The contribution of the research work reported here is twofold: (1) the development of theoretical frameworks that account for uncertainty and unmodeled dynamics in an environment where an acting agent has to achieve certain goals and (2) the implementation of the developed ideas on a mobile robot.According to one perspective, investigated in Chapter 4, the agent has a logical model of the world, but there is no probabilistic information about the environment where the agent is planning to act, and the agent is not capable or has no time for acquiring probabilities of different effects of its actions. In this case, the uncertainty and dynamics of the environment can be accounted only by observing the real outcomes of actions executed by the agent, by determining possible discrepancies between the observed outcomes and the effects expected according to the logical model of the world and then by recovering, if necessary, from the relevant discrepancies. To recover the agent computes on-line an appropriate correction of the program that is being executed. A general framework for execution monitoring of Golog programs provides the aforementioned functionalities and generalizes those previously known approaches to execution monitoring that have been formulated only for cases when the agent is given a linearly or partially ordered sequence of actions, but not an arbitrary program.According to the second perspective, investigated in Chapter 5, we can model actions of the agent as stochastic actions and characterize them by a finite set of probabilities: whenever the agent does a stochastic action, it may lead to a finite number of possible outcomes. Two major innovations in this research direction are the development of a decision-theoretic Golog (DT Golog) interpreter, that deals with programs that include stochastic actions, and the development of the situation calculus representation of MDPs. In addition to this off-line DT-Golog interpreter, in Chapter 6 we develop an on-line DT Golog interpreter that combines planning with the execution of policies. This new on-line architecture allows one to compute an optimal policy (optimal with respect to a given Golog program and a current model of the world) from an initial segment of a Golog program, execute the computed policy on-line and then proceed to computing and executing policies for the remaining segments of the program. The specification and implementation of the on-line interpreter requires a new approach to the representation of sensing actions in the situation calculus. A formal study of this approach is undertaken in Chapter 3. We also describe implementations of our frameworks; these were successfully tested in a real office environment on a mobile robot B21.We have elaborated the approach to designing efficient and reliable controllers in Golog following two different perspectives on the environment where the control program is supposed to operate.

The Physical Object
Pagination352 leaves.
Number of Pages352
ID Numbers
Open LibraryOL19475502M
ISBN 100494027304

High-level programming for industrial robotics: using gestures, speech and force control Article (PDF Available) in Industrial Robot January with Reads How we measure 'reads'. with both objectives of human and robot taken into account. Under this framework, approximate dynamic programming will be employed to solve the optimal problem subject to unknown system dynamics [16], [17]. The rest of this paper is organized as follows. In Section II, a typical human-robot collaboration scenario is introduced.

Abstract. This paper proposes a new language that can be used to build high-level robot controllers with high-level cognitive functions such as plan specification, plan generation, plan execution, perception, goal formulation, communication and by: 2. An intelligent agent interacting with a dynamic and incompletely known world faces two special sorts of reasoning problems. First, because the world is dynamic, it will need to briefly described in Section 3, has led to a novel logic programming language called golog. Gologhas proved to be useful for describing high-level robot and softbot.

A high-level robot programming language constitutes a general purpose interface for accessing the basic functional capabilities of a robot. On the other hand, CAD facilities give the possibility of using a subset of these capabilities in an easier by: 3. In this book we explore an introduction to autonomous robot programming and work towards the development of robots designed to compete in Sumo Robot competitions. We use the MRK-1 Mini Robot Kit created by Sumo Robot League to learn about Arduino-based programming to interact with sensors and allow our robot to navigate in the real world.5/5(1).


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High-level robot programming in dynamic and incompletely known environments by Mikhail Soutchanski Download PDF EPUB FB2

High-level robot programming incompletely known environment mobile robot logical model possible discrepancy research work control program certain goal logic-based approach unmodeled dynamic developed idea real outcome different effect acting agent high-level control probabilistic information different perspective observed outcome theoretical.

High-Level Robot Programming in Dynamic and Incompletely Known Environments () Cached. Download Links {Soutchanski03high-levelrobot, author = {Mikhail Soutchanski}, title = {High-Level Robot Programming in Dynamic and Incompletely Known Environments}, institution = {}, year = {}} Share.

OpenURL. High-Level Robot Programming in Dynamic and Incompletely Known Environments. This thesis advocates the usefulness and practicality of a logic-based approach to AI and in particular to high-level control of mobile robots.

The contribution of the research work reported here is twofold: 1) the development of theoretical frameworks that Author: Mikhail Soutchanski. Download PDF: Sorry, we are unable to provide the full text but you may find it at the following location(s): (external link) http Author: Mikhail Soutchanski.

High-Level Robot Programming in Dynamic and Incompletely Known Environments. Mikhail Soutchanski Doctor of Philosophy Graduate Department of Computer Science University of Toronto This thesis advocates the usefulness and practicality of a logic-based approach to AI and in particular to high-levelcontrolof mobilerobots.

Abstract IndiGolog is a high-level programming language for robots and intelligent agents that supports on-line planning and plan execution in dynamic and incompletely known environments.

Programs may perform sensing actions that acquire information at runtime and react to exogenous actions. Integrating Planning into Reactive High-Level Robot Programs Yves Lesp´erance and Ho-Kong Ng 1 Abstract.

IndiGolog is a high-level programming language for robots and intelligent agents that supports on-line planning and plan execution in dynamic and incompletely known environments. Pro-grams may perform sensing actions that acquire. This paper describes a novel approach to high-level robot programming based on a highly developed logi-ca] theory of action.

dynamic and incompletely known worlds, as well as perception actions. Given this kind of domain spec- candidate programming language for high-level robot control. Integrating Reasoning, Action and. IndiGolog is a high-level programming language for robots and intelligent agents that supports on-line planning and plan execution in dynamic and incompletely known environments.

Programs may perform sensing actions that acquire information at runtime and react to exogenous : Yves Lespérance and Ho-Kong Ng. High-Level Robot Programming in Dynamic and Incompletely Known Environments () Cached. title = {High-Level Robot Programming in Dynamic and Incompletely Known Environments}, institution = {}, year = {}} Share.

OpenURL. Abstract. A thesis submitted in conformity with the requirements. Keyphrases. high-level robot programming. IndiGolog is a high-level programming language for robots and intelligent agents that supports on-line planning and plan execution in dynamic and incompletely known environments.

Programs may perform sensing actions that acquire information at runtime and react to exogenous actions. Correct High-level Robot Behavior in Environments with Unexpected Events Kai Weng Wong, Rudiger Ehlers¨ yand Hadas Kress-Gazit Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, New York, USA yUniversity of Bremen and DFKI GmbH, Bremen, Germany Emails: [email protected], @, hadaskg.

with a high-level of abstraction from the robot specific language, and, if possible, without speeding too much money. In this paper, a CAD-based system to program a robot from a 3D CAD drawing, allowing users with basic skills in CAD and robot programming to generate robot programs off-line, is presented.

very-high-level programming language for intelligent agents and robots that supports on-line planning and plan execution in dynamic and incompletely known environments. It allows the programmer to specify a logical model of the domain in the situation calculus and uses it to perform projection in planning/search and update when actions occur.

Title: High-level robot programming based on CAD: dealing with unpredictable environments. Abstract: Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each by: High level robot programming using body and hand gestures Panagiota Tsarouchi a, Athanasios Athanasatos a, Sotiris Makris a, Xen ofon Chatzigeorgiou a, George Chryssolouris a *.

Abstract This paper describes a novel approach to high-level robot programming based on a highly developed logical theory of action. The user provides a specification of the robot's basic actions (their preconditions and effects on the environment) as well as of relevant aspects of the environment, in an extended version of the situation calculus.

"A robot is not a computer" And programming for a robot is different in many ways from programming for a computer. This book describes some of the pitfalls and assumptions which a computer programmer may have when starting out with robotics. Issues like 'thrashing' and 'graceful degradation' present new challenges to the desktop by: Artificial Intelligence and Robotics.

incompletely known environments, without human assis- text of robot programming environments, including ad-hoc. Abstract. This paper describes a novel approach to high-level robot programming based on a highly developed logical theory of action.

The user provides a specification of the robot's basic actions (their preconditions and effects on the environment) as well as of relevant aspects of the environment, in an extended version of the situation calculus.

Industrial Robots Programming focuses on designing and building robotic manufacturing cells, and explores the capabilities of today’s industrial equipment as well as the latest computer and software technologies.

Special attention is given to the input devices and systems that create efficient human-machine interfaces, and how they help non-technical personnel perform necessary programming Cited by: When robots are working in dynamic environments, close to humans lacking extensive knowledge of robotics, there is a strong need to simplify the user interaction and make the system execute as.Robot Programming - From Simple Moves to Complex Robot Tasks F.

M. Wahl and U. Thomas Institute for Robotics and Process Control Technical University of Braunschweig 1 Introduction The development of robot programming concepts is almost as old as the develop-ment of robot manipulators itself.

As the ultimate goal of industrial robotics hasFile Size: KB.