The authors develop a methodology for reasoning about the state of the environment based on evidence received from some source. It is assumed that the evidence is expressed as a probability mass function defined on a ...
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The authors develop a methodology for reasoning about the state of the environment based on evidence received from some source. It is assumed that the evidence is expressed as a probability mass function defined on a discrete set of mutually exclusive hypotheses about the state of the environment. Given that the quality of the evidence is variable, it follows that the precision of the reasoning process must also vary. That is, the level of specificity and the certainty associated with decisions made at that level depend directly on the quality of the evidence. An indistinguishability measure is used to generate a core set of aggregate focal elements, each of which may consist of logical disjunctions of the basic hypothesis set. The measure takes into account both the differences in support levels for the hypotheses and the degree to which they are similar. Partial dominance is then used to associate a basic probability assignment on the core set. This approach makes it possible to apply simple, quantitative methods to express the variations in the precision associated with decisions. The result is a set of aggregate hypotheses and their support levels which become input to the classification process. In most cases, multiple sets of aggregate hypotheses will be used in an evidential classification scheme to produce a composite characterization of the environment.< >
An intelligent robot prehension paradigm is introduced, focusing attention on evidential reasoning that would be used in combination with topological reasoning for regrasping tasks. The prehension paradigm is based on...
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An intelligent robot prehension paradigm is introduced, focusing attention on evidential reasoning that would be used in combination with topological reasoning for regrasping tasks. The prehension paradigm is based on a topological model of multifingered hands capable of tip prehension, palm prehension or a combination of tip and palm prehension. The topological model constitutes a much richer set of available grasps than those provided by current grasp models. Associated with this topological model is a set of reasoning algorithms for grasp selection and for regrasping. The grasp selection scheme, using mainly topological reasoning, is characterized by a set of continuous transformations from a given, symbolic task description into a set of numeric parameters specifying the hand posture and functionality of a selected grasp. The regrasping scheme using mainly evidential reasoning to guide a change of grasps according to perceptual data. From a control point of view, both reasoning schemes will operate concurrently for grasp synthesis and regrasping.< >
The intelligent coordination of multiple robots requires modularization of robots at some level higher than the joint, corresponding task representations, and a concept of time that allows the dynamic specification of...
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The intelligent coordination of multiple robots requires modularization of robots at some level higher than the joint, corresponding task representations, and a concept of time that allows the dynamic specification of task synchronization. The necessary representations of robots and tasks are developed, and the structural and operational semantics of the primitive task and reflex models are specified. A concept of time, called functional time-dependency, that allows the dynamic specification of the distributed semantics during task execution by multiple robots is developed. The utility of functional time-dependency is shown using two examples.< >
An algebra of Petri nets for the dynamic specification of the distributed semantics of task synchronization in hierarchical multiagent robotic systems is developed. The proposed algebra allows for the hierarchical spe...
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An algebra of Petri nets for the dynamic specification of the distributed semantics of task synchronization in hierarchical multiagent robotic systems is developed. The proposed algebra allows for the hierarchical specification of the flow of control and the temporal order of task execution by multiagent systems. Each level of the resulting hierarchies horizontally contains the synchronization structure of task execution and vertically is a generalization of the level below and a specialization of the level above. The horizontal synchronization structures developed by the proposed Petri net model maintain the desirable properties of safeness and liveness by construction. The model utilizes a modularization of complex kinematic chains, a classification of primitive tasks, and a concept of functional time dependency.< >
A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis ...
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A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis of this decomposition a linear feedback control design is proposed for linear uncertain systems. The control always exists if the generalized matching condition is met. The design is illustrated by a practical example.< >
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