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A note on achieving low-level rationality from pure reactivity

JOURNAL OF EXPERIMENTAL & THEORETICAL ARTIFICIAL INTELLIGENCE 1996年第2期8卷 121-127页

作者： Kelemen, J SILESIAN UNIV INST MATH & COMP SCICR-74601 OPAVACZECH REPUBLIC UNIV ECON DEPT APPL INFORMATBRATISLAVA 83220SLOVAKIA

The paper connects a decision-theoretic model of rationality and a generative (grammar-theoretic) model of multiagent systems called colonies. The decision-theoretic notion of the low-level rationality of agents is introduced. Then, a characterization of a subclass of low-level rational agents is given in the formal framework. of colonies. In other words, it is proved that at least the low-level rationality of some agents can emerge from activities of their autonomous purely reactive and individually non-rational components.

关键词： reactive robotics grammar systems rationality

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A development platform for behavioral flexibility in autonomous unmanned aerial systems

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INTERNATIONAL JOURNAL OF INTELLIGENT robotics AND APPLICATIONS 2020年第1期4卷 57-72页

作者： Bodin, Taylor B. Bindewald, Jason M. Leishman, Robert C. Peterson, Gilbert L. Jacques, David R. US Air Force Inst Technol 2950 Hobson WayBldg 640 Dayton OH 45430 USA

Autonomous unmanned aerial systems (UAS) could supplement and eventually subsume a substantial portion of the mission set currently executed by remote pilots, making UAS more robust, responsive, and numerous than can be achieved by teleoperation alone. Unfortunately, the development of robust autonomous systems is difficult, costly, and time-consuming. Furthermore, the resulting systems often make little reuse of proven software components and offer limited adaptability for new tasks. This work presents a development platform for UAS which promotes behavioral flexibility. The platform incorporates the unified behavior framework (a modular, extensible autonomy framework), the robotic operating system (a robotic software framework), and PX4 (an open-source flight controller). Simulation of UBF agents identify a combination of reactive robotic control strategies effective for small-scale navigation tasks by a UAS in the presence of obstacles. Finally, flight tests provide a partial validation of the simulated results. The development platform presented in this work offers robust and responsive behavioral flexibility for UAS agents in simulation and reality using a methodology originally proven on ground robots.

关键词： Unified behavior framework Unmanned aerial systems reactive robotics Autonomy

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The coevolution of robot behavior and central action selection

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2nd International Work-Conference on the Interplay Between Natural and Artificial Computation

作者： Montes-Gonzalez, Fernando Dept Inteligencia Artificial Xalapa Veracruz Mexico

ISBN: (纸本)9783540730545

The evolution of an effective central model of action selection and behavioral modules have already been revised in previous papers. The central model has been set to resolve a foraging task, where specific modules for exploring the environment and for handling the collection and delivery of cylinders have been developed. Evolution has been used to adjust the selection parameters of the model and the neural weights of the exploring behaviors. However, in this paper the focus is on the use of genetic algorithms for coevolving both the selection parameters and the exploring behaviors. The main goal of this study is to reduce the number of decisions made by the human designer.

关键词： action selection reactive robotics genetic algorithms

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Spatio-temporal case-based reasoning for behavioral selection

Spatio-temporal case-based reasoning for behavioral selectio...

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IEEE International Conference on robotics and Automation

作者： Likhachev, M Arkin, RC Georgia Inst Technol Coll Comp Mobile Robot Lab Atlanta GA 30332 USA

ISBN: (纸本)0780365763

This paper presents the application of a Case-Based Reasoning approach to the selection and modification of behavioral assemblage parameters. The goal of this research is to achieve an optimal parameterization of robotic behaviors in run-time. This increases robot performance and makes a manual configuration of parameters unnecessary. The case-based reasoning module selects a set of parameters for an active behavioral assemblage in real-time. This set of parameters fits the environment better than hand-coded ones, and its performance is monitored providing feedback,for a possible reselection of the parameters. This paper places a significant emphasis on the technical details of the case-based reasoning module and how it is integrated within a schema-based reactive navigation system. The paper also presents the results and evaluation of the system in both in simulation and real world robotic experiments.

关键词： case-based reasoning behavior-based robotics reactive robotics

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Post-facto Misrecognition Filter Based on Resumable Interruptions for Coping with Real World Uncertainty in the Development of reactive Robotic Behaviors 17th

Post-facto Misrecognition Filter Based on Resumable Interrup...

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17th International Conference on Intelligent Autonomous Systems (IAS)

作者： Affonso, Guilherme de Campos Okada, Kei Inaba, Masayuki Univ Tokyo 7-3-1 HongoBunkyo Ku Tokyo Japan

ISBN: (纸本)9783031222153;9783031222160

In this paper we propose a resumable interruption framework for robotic applications which allows to "filter" misrecognition signals after their occurrence. Handling misrecognition is essential for deploying reactive systems into the real world, since being over-reactive to detection errors can lead to livelocks and stagnation. For example, constantly interrupting and resuming a picking task due to misrecognition can make the robot alternate between pre-grasping and grasping motions, without ever achieving the task. Our solution is based on resumable interruptions, continuing interrupted procedures from the exact preemption point if similar execution requests are received shortly after a cancellation order. This acts as a post-facto misrecognition filter, which stabilizes execution and ensures task completion. Compared with standard filtering, the post-facto approach allows to deliver signals faster and recover from misrecognition longer. The proposed system is verified through real robot experiments in dynamic and static environments.

关键词： robotics reactive robotics Misrecognition handling Robot manipulation Dynamic environments

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State-Aware Layered BTs-Behavior Tree Extensions for Post-Actions, Preferences and Local Priorities in Robotic Applications 17th

State-Aware Layered BTs-Behavior Tree Extensions for Post-Ac...

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17th International Conference on Intelligent Autonomous Systems (IAS)

作者： Affonso, Guilherme de Campos Okada, Kei Inaba, Masayuki Univ Tokyo 7-3-1 HongoBunkyo Ku Tokyo Japan

ISBN: (纸本)9783031222153;9783031222160

In this paper we propose State-Aware Layered BTs, a behavior tree extension that facilitates the implementation of post-actions, preferences, and local priorities for usage in robotics applications. These procedures are hard to be defined on standard behavior tree formulations because behavior trees lack the ability to structurally retain any information on previous states. Therefore, the execution of localized heuristics can only be attained through the inference or emulation of previous states, which can be imprecise, cause reactivity losses, or introduce added complexity to the structure. In this work we cope with this problem by (i) adding a native operator which accesses the previous execution states of individual nodes;(ii) adding separate layers of interaction which expand the operator functionality and are used to describe multiple goals within the same task. The validity of the proposed system is verified through extensive analysis of a series of annotated examples.

关键词： Behavior trees robotics reactive robotics Task formulation Control structures

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COGNITIVE PERSPECTIVES ON ROBOT BEHAVIOR

COGNITIVE PERSPECTIVES ON ROBOT BEHAVIOR

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2nd International Conference on Agents and Artificial Intelligence (ICAART 2010)

作者： Billing, Erik A. Umea Univ Dept Comp Sci Umea Sweden

ISBN: (纸本)9789896740221

A growing body of research within the field of intelligent robotics argues for a view of intelligence drastically different from classical artificial intelligence and cognitive science. The holistic and embodied ideas expressed by this research promote the view that intelligence is an emergent phenomenon. Similar perspectives, where numerous interactions within the system lead to emergent properties and cognitive abilities beyond that of the individual parts, can be found within many scientific fields. With the goal of understanding how behavior may be represented in robots, the present review tries to grasp what this notion of emergence really means and compare it with a selection of theories developed for analysis of human cognition, including the extended mind, distributed cognition and situated action. These theories reveal a view of intelligence where common notions of objects, goals, language and reasoning have to be rethought. A view where behavior, as well as the agent as such, is defined by the observer rather than given by their nature. Structures in the environment emerge by interaction rather than recognized. In such a view, the fundamental question is how emergent systems appear and develop, and how they may be controlled.

关键词： Behavior based control Cognitive artificial intelligence Distributed cognition Ontology reactive robotics Sensory-motor coordination Situated action

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Behavior Flexibility for Autonomous Unmanned Aerial Systems

Behavior Flexibility for Autonomous Unmanned Aerial Systems

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作者： Taylor B. Bodin Air University

学位级别：硕士

The goal of this work was to assess the feasibility of a behavior-flexible development platform for UAS. This work first establishes the current state-of-the-art with regard autonomy frameworks, robotic software frameworks RSF, and flight controllers for UAS, components necessary for a development platform. The work then proposes a design incorporating the Unified Behavior Framework (a modular, extensible autonomy framework), the Robotic Operating System (an RSF), and PX4 (an open-source flight controller). Using the platform, the work then identifies a combination of autonomous robotic control strategies which are effective for small-scale navigation tasks in simulation. Finally, the work provides a partial validation of the simulated results through flight test. The development platform presented in this work is shown to be robust, responsive, and behavior-flexible both in simulation and reality.

关键词： UBF reactive robotics UAS Autonomy

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