Probabilistic Hybrid Action Models for Predicting Concurrent Percept-driven Robot Behavior

This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic causal model for predicting the behavior generated by modern percept-driven robot plans. PHAMs represent aspects of robot behavior that cannot be represented by most action models used in AI planning: the temporal structure of continuous control processes, their non-deterministic effects, several modes of their interferences, and the achievement of triggering conditions in closed-loop robot plans. The main contributions of this article are: (1) PHAMs, a model of concurrent percept-driven behavior, its formalization, and proofs that the model generates probably, qualitatively accurate predictions; and (2) a resource-efficient inference method for PHAMs based on sampling projections from probabilistic action models and state descriptions. We show how PHAMs can be applied to planning the course of action of an autonomous robot office courier based on analytical and experimental results

Engineering Agent Systems for Decision Support

This paper discusses how agent technology can be applied to the design of advanced Information Systems for Decision Support. In particular, it describes the different steps and models that are necessary to engineer Decision Support Systems based on a multiagent architecture. The approach is illustrated by a case study in the traffic management domain

Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms

The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications

Cognitive Robotics

This chapter is dedicated to the memory of Ray Reiter. It is also an overview of cognitive robotics, as we understand it to have been envisaged by him.1 Of course, nobody can control the use of a term or the direction of research. We apologize in advance to those who feel that other approaches to cognitive robotics and related problems are inadequately represented here

A Planning Pipeline for Large Multi-Agent Missions

In complex multi-agent applications, human operators are often tasked with planning and managing large heterogeneous teams of humans and autonomous vehicles. Although the use of these autonomous vehicles broadens the scope of meaningful applications, many of their systems remain unintuitive and difficult to master for human operators whose expertise lies in the application domain and not at the platform level. Current research focuses on the development of individual capabilities necessary to plan multi-agent missions of this scope, placing little emphasis on the integration of these components in to a full pipeline. The work presented in this paper presents a complete and user-agnostic planning pipeline for large multiagent missions known as the HOLII GRAILLE. The system takes a holistic approach to mission planning by integrating capabilities in human machine interaction, flight path generation, and validation and verification. Components modules of the pipeline are explored on an individual level, as well as their integration into a whole system. Lastly, implications for future mission planning are discussed

Game Theory and Prescriptive Analytics for Naval Wargaming Battle Management Aids

NPS NRP Technical ReportThe Navy is taking advantage of advances in computational technologies and data analytic methods to automate and enhance tactical decisions and support warfighters in highly complex combat environments. Novel automated techniques offer opportunities to support the tactical warfighter through enhanced situational awareness, automated reasoning and problem-solving, and faster decision timelines. This study will investigate how game theory and prescriptive analytics methods can be used to develop real-time wargaming capabilities to support warfighters in their ability to explore and evaluate the possible consequences of different tactical COAs to improve tactical missions. This study will develop a conceptual design of a real-time tactical wargaming capability. This study will explore data analytic methods including game theory, prescriptive analytics, and artificial intelligence (AI) to evaluate their potential to support real-time wargaming.N2/N6 - Information WarfareThis research is supported by funding from the Naval Postgraduate School, Naval Research Program (PE 0605853N/2098). https://nps.edu/nrpChief of Naval Operations (CNO)Approved for public release. Distribution is unlimited.