Environmental modeling and recognition for an autonomous land vehicle

An architecture for object modeling and recognition for an autonomous land vehicle is presented. Examples of objects of interest include terrain features, fields, roads, horizon features, trees, etc. The architecture is organized around a set of data bases for generic object models and perceptual structures, temporary memory for the instantiation of object and relational hypotheses, and a long term memory for storing stable hypotheses that are affixed to the terrain representation. Multiple inference processes operate over these databases. Researchers describe these particular components: the perceptual structure database, the grouping processes that operate over this, schemas, and the long term terrain database. A processing example that matches predictions from the long term terrain model to imagery, extracts significant perceptual structures for consideration as potential landmarks, and extracts a relational structure to update the long term terrain database is given

An adaptive appearance-based map for long-term topological localization of mobile robots

This work considers a mobile service robot which uses an appearance-based representation of its workplace as a map, where the current view and the map are used to estimate the current position in the environment. Due to the nature of real-world environments such as houses and offices, where the appearance keeps changing, the internal representation may become out of date after some time. To solve this problem the robot needs to be able to adapt its internal representation continually to the changes in the environment. This paper presents a method for creating an adaptive map for long-term appearance-based localization of a mobile robot using long-term and short-term memory concepts, with omni-directional vision as the external sensor

Information Integration - the process of integration, evolution and versioning

At present, many information sources are available wherever you are. Most of the time, the information needed is spread across several of those information sources. Gathering this information is a tedious and time consuming job. Automating this process would assist the user in its task. Integration of the information sources provides a global information source with all information needed present. All of these information sources also change over time. With each change of the information source, the schema of this source can be changed as well. The data contained in the information source, however, cannot be changed every time, due to the huge amount of data that would have to be converted in order to conform to the most recent schema.\ud In this report we describe the current methods to information integration, evolution and versioning. We distinguish between integration of schemas and integration of the actual data. We also show some key issues when integrating XML data sources

Aspects of Assembly and Cascaded Aspects of Assembly: Logical and Temporal Properties

Highly dynamic computing environments, like ubiquitous and pervasive computing environments, require frequent adaptation of applications. This has to be done in a timely fashion, and the adaptation process must be as fast as possible and mastered. Moreover the adaptation process has to ensure a consistent result when finished whereas adaptations to be implemented cannot be anticipated at design time. In this paper we present our mechanism for self-adaptation based on the aspect oriented programming paradigm called Aspect of Assembly (AAs). Using AAs: (1) the adaptations process is fast and its duration is mastered; (2) adaptations' entities are independent of each other thanks to the weaver logical merging mechanism; and (3) the high variability of the software infrastructure can be managed using a mono or multi-cycle weaving approach.Comment: 14 pages, published in International Journal of Computer Science, Volume 8, issue 4, Jul 2011, ISSN 1694-081

A Graph Rewriting Visual Language for Database Programming

Textual database programming languages are computationally complete, but have the disadvantage of giving the user a non-intuitive view of the database information that is being manipulated. Visual languages developed in recent years have allowed naive users access to a direct representation of data, often in a graph form, but have concentrated on user interface rather than complex programming tasks. There is a need for a system which combines the advantages of both these programming methods. We describe an implementation of Spider, an experimental visual database programming language aimed at programmers. It uses a graph rewriting paradigm as a basis for a fully visual, computationally complete language. The graphs it rewrites represent the schema and instances of a database. The unique graph rewriting method used by Spider has syntactic and semantic simplicity. Its form of algorithmic expression allows complex computation to be easily represented in short programs. Furthermore, Spider has greater power than normally provided in textual systems, and we show that queries on the schema and associative queries can be performed easily and without requiring any additions to the language

Gryphon: An Information Flow Based Approach to Message Brokering

Gryphon is a distributed computing paradigm for message brokering, which is the transferring of information in the form of streams of events from information providers to information consumers. This extended abstract outlines the major problems in message brokering and Gryphon's approach to solving them.Comment: Two page extended abstrac