In this article, we describe a possibilistic/probabilistic conditional planner called PTLplan. Being inspired by Bacchus and Kabanza's TLplan, PTLplan is a progressive planner that uses strategic knowledge encoded...
In this article, we describe a possibilistic/probabilistic conditional planner called PTLplan. Being inspired by Bacchus and Kabanza's TLplan, PTLplan is a progressive planner that uses strategic knowledge encoded in a temporal logic to reduce its search space. Actions effects and sensing can be context dependent and uncertain, and the information the planning agent has at each point in time is represented as a set of situations with associated possibilities or probabilities. Besides presenting the planner itself - its representation of actions and plans, and its algorithm - we also provide some promising data from performance tests.
Desirability functions are an effective way to define group and individual objectives of a team of cooperating mobile robots. By combining desirability functions, we can identify the individual actions that best satis...
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We introduce a new algorithm for image noise cancellation based on fuzzy similarity and homogeneity. The proposed method allows simple tuning of fuzzy filter properties and it is very convenient for high-speed real-ti...
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We introduce a new algorithm for image noise cancellation based on fuzzy similarity and homogeneity. The proposed method allows simple tuning of fuzzy filter properties and it is very convenient for high-speed real-time image processing. A detailed analysis of the filter properties is presented to support tuning its parameters for a particular application. Test examples and comparisons with other image noise cancellation techniques show the advantages of the method.
An intelligent physical agent must incorporate motor and perceptual processes to interface with the physical world, and abstract cognitive processes to reason about the world and the options available. One crucial asp...
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An intelligent physical agent must incorporate motor and perceptual processes to interface with the physical world, and abstract cognitive processes to reason about the world and the options available. One crucial aspect of incorporating cognitive processes into a physically embedded reasoning system is the integration between the symbols used by the reasoning processes to denote physical objects, and the perceptual data corresponding to these objects. We treat this integration aspect by proposing a fuzzy computational theory of anchoring. Anchoring is the process of creating and maintaining the correspondence between symbols and percepts that refer to the same physical objects. Modeling this process using fuzzy set-theoretic notions enables dealing with perceptual data that can be affected by uncertainty/imprecision and imprecise/vague linguistic descriptions of objects.
“Team Sweden” is the Swedish national team that entered the Sony legged robot league at the RoboCup ’99 and RoboCup 2000 competitions. We had two main requirements in mind when preparing ...
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(纸本)3540421858
“Team Sweden” is the Swedish national team that entered the Sony legged robot league at the RoboCup ’99 and RoboCup 2000 competitions. We had two main requirements in mind when preparing our entries: 1. The entry should effectively address the specific challenges present in this domain; in particular, it should be able to tolerate errors and imprecision in perception and execution; and 2. it should illustrate our research in autonomous robotics, by incorporating general techniques that can be reused in different robots and environments. While the first requirement could have been met by writing some ad hoc competition software, the second one led us to develop principled solutions that drew upon our current research in robotics, and that pushed it further ahead.
The notion of anchoring has been introduced as a special form of symbol grounding which is needed in practical robotic systems that comprise a symbolic reasoning component. However, several concepts used in anchoring ...
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We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dy...
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We describe a new approach to virtual instrumentation, estimation and decision making of a dynamically changing quality assessment. We illustrate this approach in an electronic head concept, in which we combine the am...
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We describe a new technique for landmark-based self-localization which is suitable for robots with poor odometry. This technique uses fuzzy logic to account for errors and imprecision in visual recognition, and for ex...
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We describe a new technique for landmark-based self-localization which is suitable for robots with poor odometry. This technique uses fuzzy logic to account for errors and imprecision in visual recognition, and for extreme uncertainty in the estimate of the robot's motion. It only requires an approximate model of the sensor system and a qualitative estimate of the robot's displacement, and it has a moderate computational cost. We show examples of use of our technique on a Sony AIBO legged robot in the RoboCup domain.
This paper addresses the problem of recovering metric consistency in a global gridmap for mobile robot navigation in large-scale environments. A hierarchy of robot maps is proposed which integrates topological and gri...
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This paper addresses the problem of recovering metric consistency in a global gridmap for mobile robot navigation in large-scale environments. A hierarchy of robot maps is proposed which integrates topological and grid-based representations at different levels of abstraction. The consistency problem is solved at the topological level, by applying a relaxation technique to generate coordinates for the places in the map. Consequently, the robot is able to recover a globally consistent gridmap without requiring accurate sensors or high computational costs. Experiments on a Nomad 200 robot in a large, real world environment demonstrate the effectiveness of the approach.
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