Reasoning on Robot Knowledge from Discrete and Asynchronous Observations

in AAAI Spring Symposium 2014: Knowledge Representation and Reasoning in Robotics, Stanford, USA, 2015 (2014, March)

Robot knowledge of the world is created from discrete and asynchronous events received from its perception components. Proper representation and maintenance of robot knowledge is crucial to enable the use ... [more ▼]

Robot knowledge of the world is created from discrete and asynchronous events received from its perception components. Proper representation and maintenance of robot knowledge is crucial to enable the use of robot knowledge for planning, user-interaction, etc. This paper identifies some of the main issues related to the representation, maintenance and querying of robot knowledge based on discrete asynchronous events such as event-history management and synchronization, and introduces a language for simplifying developers’ job at making a suitable representation of robot knowledge. [less ▲]

A Library for Event-Processing and Adaptable Component Interactions in Autonomous Robot Software

Poster (2013, May 06)

A light-weight framework-independent software library is introduced to facilitate a modular and systematic development of sensory management components for an autonomous robot. Such components are used to ... [more ▼]

A light-weight framework-independent software library is introduced to facilitate a modular and systematic development of sensory management components for an autonomous robot. Such components are used to implement complex eventprocessing tasks such as content-based filtering, integration and transformation of sensory data. In addition, they can be used as mediators to provide a number of high-level interaction mechanisms among a robot’s software components. To this end, they enable components with subscription to their events of interest, asynchronous reception of events, maintaining necessary histories of events and querying of the histories at runtime. [less ▲]

Event-processing in Autonomous Robot Programming

in Proceedings of the 2013 International Conference on Autonomous Agents and Multi-agent Systems (2013)

When implementing the high-level control component of an autonomous robot, one needs to process events, generated by sensory components, to extract the information relevant to the control component. This ... [more ▼]

When implementing the high-level control component of an autonomous robot, one needs to process events, generated by sensory components, to extract the information relevant to the control component. This paper discusses the lack of support for event-processing when current agent programming languages (APLs) are used to implement the control component of autonomous robots. To address this issue, the use of information flow processing (IFP) systems is proposed to support the development of event-processing components (EPCs) for an autonomous robot. The necessary interaction mechanisms between a control component and EPCs are defined. These mechanisms allow run-time subscription to events of interest, asynchronous reception of events, maintaining necessary histories of events and run-time querying of the histories. Several implementation-related concerns for these interaction mechanisms are discussed. [less ▲]