Download or read book Dynamic Behavior Sequencing in a Hybrid Robot Architecture written by Jeffrey P. Duffy and published by . This book was released on 2008 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Behavior Modeling for Hybrid Robotic Systems written by Chetan Rawal and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The behavior of a certain class of hybrid robotic systems can be expressed using formal languages. In this work, we show how languages can be generated from discrete abstractions of such hybrid systems; that these languages are regular; and they belong to the star free (SF) class of the Sub-regular hierarchy. Planning and control of hybrid systems is typically difficult due to the computational cost involved in predicting the system's future states, since the states can take infinite values while evolving along the trajectories of continuous dynamics. A discrete abstraction of the hybrid system can reduce these values to a finite number, thereby fascilitating the solution to the reachability problem. Abstraction enables us to focus on planning the system's overall behavior through controller sequences observed in the abstract system, instead of dealing with the dynamics associated with each controller. The constraints between controllers enable or disable their temporal sequencing. Similarity of these constraints with those found in formal language theory, allows us to express controller sequences as strings of symbols forming a formal language. A formal language analysis of hybrid systems provides an approach for automatic planning and control design synthesis in single and multi-agent robotic systems. The class of hybrid systems considered in this work have convergent continuous dynamics with parameterized attractors. We model a robot as a hybrid system, and abstract the hybrid system to a discrete transition system. Plans of controller sequences generated on the transition system are implementable on the hybrid system because of a (weak) bisimulation established between the two systems. Constraints are identified between controllers, that affect their sequencing, with each constraint forming a sub-regular class of controller sequences. Intersection of these languages yield (sub)regular robotic languages that express the overall behavior of the underlying hybrid system. Other models of robot (motion) control such as motion description languages and linear temporal logics generate regular and omega-regular languages respectively. Subregular languages, generated by our classes of hybrid systems, offer structure that can be exploited to operate on system representations in a way that reigns in the complexity of the outcome. The technical contribution of this work in the field of analysis of hybrid systems is that it identifies classes of hybrid robotic systems that can be abstracted so that their overall behavior can be described using subregular languages, and characterizes these languages within the Chomsky hierarchy. This work contributes also to the formal language community by defining a new class of subregular languages, called the tier-based strictly local languages, which captures long-distance constraints between symbols. The tier-based language models have existed in phonology, especially in the form of autosegmental patterns. However, these models have primarily dealt with expressing certain phonological patterns on tiers, instead of analyzing the tiers, as our work does here. This work opens ventures for exploring learning of the regular robotic languages by using phonological learners. In addition, cooperative behaviors between homogeneous and heterogeneous robots, by performing intersection of their regular robotic languages, can be looked into as future work. Formal language theory also offers algebraic tools for analysis of the languages and automata, which can be explored for studying optimal plans of hybrid system behavior, and can aid in composing and decomposing languages.
Download or read book The RHIZOME Architecture written by Dalia Marcela Rojas Castro and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The work described in this dissertation is a contribution to the problem of autonomous indoor vision-based mobile robot navigation, which is still a vast ongoing research topic. It addresses it by trying to conciliate all differences found among the state-of-the-art control architecture paradigms and navigation strategies. Hence, the author proposes the RHIZOME architecture (Robotic Hybrid Indoor-Zone Operational ModulE) : a unique robotic control architecture capable of creating a synergy of different approaches by merging them into a neural system. The interactions of the robot with its environment and the multiple neural connections allow the whole system to adapt to navigation conditions. The RHIZOME architecture preserves all the advantages of behavior-based architectures such as rapid responses to unforeseen problems in dynamic environments while combining it with the a priori knowledge of the world used indeliberative architectures. However, this knowledge is used to only corroborate the dynamic visual perception information and embedded knowledge, instead of directly controlling the actions of the robot as most hybrid architectures do. The information is represented by a sequence of artificial navigation signs leading to the final destination that are expected to be found in the navigation path. Such sequence is provided to the robot either by means of a program command or by enabling it to extract itself the sequence from a floor plan. This latter implies the execution of a floor plan analysis process. Consequently, in order to take the right decision during navigation, the robot processes both set of information, compares them in real time and reacts accordingly. When navigation signs are not present in the navigation environment as expected, the RHIZOME architecture builds new reference places from landmark constellations, which are extracted from these places and learns them. Thus, during navigation, the robot can use this new information to achieve its final destination by overcoming unforeseen situations.The overall architecture has been implemented on the NAO humanoid robot. Real-time experimental results during indoor navigation under both, deterministic and stochastic scenarios show the feasibility and robustness of the proposed unified approach.
Download or read book Behavior based Robotics written by Ronald C. Arkin and published by MIT Press. This book was released on 1998 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: Foreword by Michael Arbib This introduction to the principles, design, and practice of intelligent behavior-based autonomous robotic systems is the first true survey of this robotics field. The author presents the tools and techniques central to the development of this class of systems in a clear and thorough manner. Following a discussion of the relevant biological and psychological models of behavior, he covers the use of knowledge and learning in autonomous robots, behavior-based and hybrid robot architectures, modular perception, robot colonies, and future trends in robot intelligence. The text throughout refers to actual implemented robots and includes many pictures and descriptions of hardware, making it clear that these are not abstract simulations, but real machines capable of perception, cognition, and action.
Download or read book The Future of Humanoid Robots written by Riadh Zaier and published by BoD – Books on Demand. This book was released on 2012-01-20 with total page 313 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state of the art scientific and engineering research findings and developments in the field of humanoid robotics and its applications. It is expected that humanoids will change the way we interact with machines, and will have the ability to blend perfectly into an environment already designed for humans. The book contains chapters that aim to discover the future abilities of humanoid robots by presenting a variety of integrated research in various scientific and engineering fields, such as locomotion, perception, adaptive behavior, human-robot interaction, neuroscience and machine learning. The book is designed to be accessible and practical, with an emphasis on useful information to those working in the fields of robotics, cognitive science, artificial intelligence, computational methods and other fields of science directly or indirectly related to the development and usage of future humanoid robots. The editor of the book has extensive R
Download or read book Behavior Trees in Robotics and AI written by Michele Colledanchise and published by CRC Press. This book was released on 2018-07-20 with total page 316 pages. Available in PDF, EPUB and Kindle. Book excerpt: Behavior Trees (BTs) provide a way to structure the behavior of an artificial agent such as a robot or a non-player character in a computer game. Traditional design methods, such as finite state machines, are known to produce brittle behaviors when complexity increases, making it very hard to add features without breaking existing functionality. BTs were created to address this very problem, and enables the creation of systems that are both modular and reactive. Behavior Trees in Robotics and AI: An Introduction provides a broad introduction as well as an in-depth exploration of the topic, and is the first comprehensive book on the use of BTs. This book introduces the subject of BTs from simple topics, such as semantics and design principles, to complex topics, such as learning and task planning. For each topic, the authors provide a set of examples, ranging from simple illustrations to realistic complex behaviors, to enable the reader to successfully combine theory with practice. Starting with an introduction to BTs, the book then describes how BTs relate to, and in many cases, generalize earlier switching structures, or control architectures. These ideas are then used as a foundation for a set of efficient and easy to use design principles. The book then presents a set of important extensions and provides a set of tools for formally analyzing these extensions using a state space formulation of BTs. With the new analysis tools, the book then formalizes the descriptions of how BTs generalize earlier approaches and shows how BTs can be automatically generated using planning and learning. The final part of the book provides an extended set of tools to capture the behavior of Stochastic BTs, where the outcomes of actions are described by probabilities. These tools enable the computation of both success probabilities and time to completion. This book targets a broad audience, including both students and professionals interested in modeling complex behaviors for robots, game characters, or other AI agents. Readers can choose at which depth and pace they want to learn the subject, depending on their needs and background.
Download or read book Trends in Intelligent Robotics written by Prahlad Vadakkepat and published by Springer. This book was released on 2010-09-10 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt: th This volume contains the papers selected for the 13 FIRA Robot World Congress, held at Amrita Vishwa Vidyapeetham Bangalore, India, September 15-17, 2010. The Federation of International Robot-soccer Association (FIRA – www.fira.net) is a non-profit organization that annually organizes robotic competitions and meetings around the globe. The robot soccer competitions started in 1996, and FIRA was est- lished on, June 5, 1997. The robot soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum to share ideas and future directions of technologies, and to enlarge the human networks in the robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opments and achievements in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions, and exh- its under the theme “Where Theory and Practice Meet.” FIRA India aims to propagate and popularize robotics and robotic competitions across India.
Download or read book Sequential Composition of Dynamically Dexterous Robot Behaviors written by Robert R. Burridge and published by . This book was released on 1996 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Designing Autonomous Agents written by Pattie Maes and published by MIT Press. This book was released on 1990 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: Designing Autonomous Agents provides a summary and overview of the radically different architectures that have been developed over the past few years for organizing robots. These architectures have led to major breakthroughs that promise to revolutionize the study of autonomous agents and perhaps artificial intelligence in general. The new architectures emphasize more direct coupling of sensing to action, distributedness and decentralization, dynamic interaction with the environment, and intrinsic mechanisms to cope with limited resources and incomplete knowledge. The research discussed here encompasses such important ideas as emergent functionality, task-level decomposition, and reasoning methods such as analogical representations and visual operations that make the task of perception more realistic. Contents A Biological Perspective on Autonomous Agent Design, Randall D. Beer, Hillel J. Chiel, Leon S. Sterling * Elephants Don't Play Chess, Rodney A. Brooks * What Are Plans For? Philip E. Agre and David Chapman * Action and Planning in Embedded Agents, Leslie Pack Kaelbling and Stanley J. Rosenschein * Situated Agents Can Have Goals, Pattie Maes * Exploiting Analogical Representations, Luc Steels * Internalized Plans: A Representation for Action Resources, David W. Payton * Integrating Behavioral, Perceptual, and World Knowledge in Reactive Navigation, Ronald C. Arkin * Symbol Grounding via a Hybrid Architecture in an Autonomous Assembly System, Chris Malcolm and Tim Smithers * Animal Behavior as a Paradigm for Developing Robot Autonomy, Tracy L. Anderson and Max Donath
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 892 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Balancing Reactivity and Social Deliberation in Multi Agent Systems written by Markus Hannebauer and published by Springer. This book was released on 2003-05-15 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a subselection of papers presented at the ECAI 2000 Workshop on Balancing Reactivity and Social Deliberation in Multi-Agent Systems together with additional papers from well-known researchers in the field. The 13 revised full papers were carefully reviewed and selected for inclusion in the present book. Besides two introductory survey papers, the book offers topical sections on architectures and frameworks, enhanced reactivity, and controlled social deliberation.
Download or read book Design and Control of Intelligent Robotic Systems written by Dikai Liu and published by Springer Science & Business Media. This book was released on 2009-03-05 with total page 491 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the increasing applications of intelligent robotic systems in various ?elds, the - sign and control of these systems have increasingly attracted interest from researchers. This edited book entitled “Design and Control of Intelligent Robotic Systems” in the book series of “Studies in Computational Intelligence” is a collection of some advanced research on design and control of intelligent robots. The works presented range in scope from design methodologies to robot development. Various design approaches and al- rithms, such as evolutionary computation, neural networks, fuzzy logic, learning, etc. are included. We also would like to mention that most studies reported in this book have been implemented in physical systems. An overview on the applications of computational intelligence in bio-inspired robotics is given in Chapter 1 by M. Begum and F. Karray, with highlights of the recent progress in bio-inspired robotics research and a focus on the usage of computational intelligence tools to design human-like cognitive abilities in the robotic systems. In Chapter 2, Lisa L. Grant and Ganesh K. Venayagamoorthy present greedy search, particle swarm optimization and fuzzy logic based strategies for navigating a swarm of robots for target search in a hazardous environment, with potential applications in high-risk tasks such as disaster recovery and hazardous material detection.
Download or read book Artificial Intelligence A Systems Approach written by M. Tim Jones and published by Jones & Bartlett Learning. This book was released on 2008-12-26 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers students and AI programmers a new perspective on the study of artificial intelligence concepts. The essential topics and theory of AI are presented, but it also includes practical information on data input & reduction as well as data output (i.e., algorithm usage). Because traditional AI concepts such as pattern recognition, numerical optimization and data mining are now simply types of algorithms, a different approach is needed. This “sensor / algorithm / effecter” approach grounds the algorithms with an environment, helps students and AI practitioners to better understand them, and subsequently, how to apply them. The book has numerous up to date applications in game programming, intelligent agents, neural networks, artificial immune systems, and more. A CD-ROM with simulations, code, and figures accompanies the book.
Download or read book Advances in Plan Based Control of Robotic Agents written by Michael Beetz and published by Springer. This book was released on 2003-08-02 with total page 299 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, autonomous robots, including Xavier, Martha [1], Rhino [2,3], Minerva,and Remote Agent, have shown impressive performance in long-term demonstrations. In NASA’s Deep Space program, for example, an - tonomous spacecraft controller, called the Remote Agent [5], has autonomously performed a scienti?c experiment in space. At Carnegie Mellon University, Xavier [6], another autonomous mobile robot, navigated through an o?ce - vironment for more than a year, allowing people to issue navigation commands and monitor their execution via the Internet. In 1998, Minerva [7] acted for 13 days as a museum tourguide in the Smithsonian Museum, and led several thousand people through an exhibition. These autonomous robots have in common that they rely on plan-based c- trol in order to achieve better problem-solving competence. In the plan-based approach, robots generate control actions by maintaining and executing a plan that is e?ective and has a high expected utility with respect to the robots’ c- rent goals and beliefs. Plans are robot control programs that a robot can not only execute but also reason about and manipulate [4]. Thus, a plan-based c- troller is able to manage and adapt the robot’s intended course of action — the plan — while executing it and can thereby better achieve complex and changing tasks.
Download or read book Recent Advances in Intelligent Paradigms and Applications written by Ajith Abraham and published by Physica. This book was released on 2013-03-20 with total page 283 pages. Available in PDF, EPUB and Kindle. Book excerpt: Digital systems that bring together the computing capacity for processing large bodies of information with the human cognitive capability are called intelligent systems. Building these systems has become one of the great goals of modem technology. This goal has both intellectual and economic incentives. The need for such intelligent systems has become more intense in the face of the global connectivity of the internet. There has become an almost insatiable requirement for instantaneous information and decision brought about by this confluence of computing and communication. This requirement can only be satisfied by the construction of innovative intelligent systems. A second and perhaps an even more significant development is the great advances being made in genetics and related areas of biotechnology. Future developments in biotechnology may open the possibility for the development of a true human-silicon interaction at the micro level, neural and cellular, bringing about a need for "intelligent" systems. What is needed to further the development of intelligent systems are tools to enable the representation of human cognition in a manner that allows formal manipulation. The idea of developing such an algebra goes back to Leibniz in the 17th century with his dream of a calculus ratiocinator. It wasn't until two hundred years later beginning with the work of Boole, Cantor and Frege that a formal mathematical logic for modeling human reasoning was developed. The introduction of the modem digital computer during the Second World War by von Neumann and others was a culmination of this intellectual trend.
Download or read book Behavior based Mobile Robot Control on a Hybrid CPU FPGA Architecture IB2C on SoPC written by Alexander Köpper and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
