Evolution of a Cognitive Architecture for Social Robots: Integrating Behaviors and Symbolic Knowledge

[EN] This paper presents the evolution of a robotic architecture intended for controlling autonomous social robots. The first instance of this architecture was originally designed according to behavior-based principles. The building blocks of this architecture were behaviors designed as a finite state machine and organized in an ethological inspired way. However, the need of managing explicit symbolic knowledge in human–robot interaction required the integration of planning capabilities into the architecture and a symbolic representation of the environment and the internal state of the robot. A major contribution of this paper is the description of the working memory that integrates these two approaches. This working memory has been implemented as a distributed graph. Another contribution is the use of behavior trees instead of state machine for implementing the behavior-based part of the architecture. This late version of the architecture has been tested in robotic competitions (RoboCup or European Robotics League, among others), whose performance is also discussed in this paper.SIEuropean Horizon 2020 research and innovation program under grant agreement No 732410.Ministerio de Ciencia, Innovación y Universidade

Agent Oriented Software Engineering (AOSE) Approach to Game Development Methodology

This thesis investigates existing game development methodologies, through the process of researching game and system development models. The results indicate that these methodologies are engineered to solve specific problems, and most are suitable only for specific game genres. Different approaches to building games have been proposed in recent years. However, most of these methodologies focus on the design and implementation phase. This research aims to enhance game development methodologies by proposing a novel game development methodology, with the ability to function in generic game genres, thereby guiding game developers and designers from the start of the game development phase to the end of the implementation and testing phase. On a positive note, aligning development practice with universal standards makes it far easier to incorporate extra team members at short notice. This increased the confidence when working in the same environment as super developers. In the gaming industry, most game development proceeds directly from game design to the implementation phase, and the researcher observes that this is the only industry in which this occurs. It is a consequence of the game industry’s failure to integrate with modern development techniques. The ultimate aim of this research to apply a new game development methodology using most game elements to enhance success. This development model will align with different game genres, and resolve the gap between industry and research area, so that game developers can focus on the important business of creating games. The primary aim of Agent Oriented Agile Base (AOAB) game development methodology is to present game development techniques in sequential steps to facilitate game creation and close the gap in the existing game development methodologies. Agent technology is used in complex domains such as e-commerce, health, manufacturing, games, etc. In this thesis we are interested in the game domain, which comprises a unique set of characteristics such as automata, collaboration etc. Our AOAB will be based on a predictive approach after adaptation of MaSE methodology, and an adaptive approach using Agile methodology. To ensure proof of concept, AOAB game development methodology will be evaluated against industry principles, providing an industry case study to create a driving test game, which was the problem motivating this research. Furthermore, we conducted two workshops to introduce our methodology to both academic and industry participants. Finally, we prepared an academic experiment to use AOAB in the academic sector. We have analyzed the feedbacks and comments and concluded the strengths and weakness of the AOAB methodology. The research achievements are summarized and proposals for future work outlined

KD-ACP: A Software Framework for Social Computing in Emergency Management

This paper addresses the application of a computational theory and related techniques for studying emergency management in social computing. We propose a novel software framework called KD-ACP. The framework provides a systematic and automatic platform for scientists to study the emergency management problems in three aspects: modelling the society in emergency scenario as the artificial society; investigating the emergency management problems by the repeat computational experiments; parallel execution between artificial society and the actual society managed by the decisions from computational experiments. The software framework is composed of a series of tools. These tools are categorized into three parts corresponding to “A,” “C,” and “P,” respectively. Using H1N1 epidemic in Beijing city as the case study, the modelling and data generating of Beijing city, experiments with settings of H1N1, and intervention measures and parallel execution by situation tool are implemented by KD-ACP. The results output by the software framework shows that the emergency response decisions can be tested to find a more optimal one through the computational experiments. In the end, the advantages of the KD-ACP and the future work are summarized in the conclusion

Behaviour Trees per la rappresentazione dei processi decisionali nei sistemi multiagente

Un Behavior Tree (BT) è un modello che permette la gestione di un processo decisionale in un agente autonomo.\nI BT offrono significativi benefici in termini di robustezza, manutenibilità, leggibilità e scalabilità rispetto alle alternative quali le Macchine a Stati Finiti, sia normali che gerarchiche.\nVerrà proposta una struttura di riferimento per la realizzazione delle applicazioni modellabili come sistemi multiagente e verrà applicata in ambito Io

Improving Behavior of Computer Game Bots Using Fictitious Play

In modern computer games, "bots" -intelligent realistic agents play a prominent role in the popularity of a game in the market. Typically, bots are modeled using finite-state machine and then programmed via simple conditional statements which are hard-coded in bots logic. Since these bots have become quite predictable to an experienced games player, a player might lose interest in the game. We propose the use of a game theoretic based learning rule called fictitious play for improving behavior of these computer game bots which will make them less predictable and hence, more a enjoyable game

Adaptive Robot Framework: Providing Versatility and Autonomy to Manufacturing Robots Through FSM, Skills and Agents

207 p.The main conclusions that can be extracted from an analysis of the current situation and future trends of the industry,in particular manufacturing plants, are the following: there is a growing need to provide customization of products, ahigh variation of production volumes and a downward trend in the availability of skilled operators due to the ageingof the population. Adapting to this new scenario is a challenge for companies, especially small and medium-sizedenterprises (SMEs) that are suffering first-hand how their specialization is turning against them.The objective of this work is to provide a tool that can serve as a basis to face these challenges in an effective way.Therefore the presented framework, thanks to its modular architecture, allows focusing on the different needs of eachparticular company and offers the possibility of scaling the system for future requirements. The presented platform isdivided into three layers, namely: interface with robot systems, the execution engine and the application developmentlayer.Taking advantage of the provided ecosystem by this framework, different modules have been developed in order toface the mentioned challenges of the industry. On the one hand, to address the need of product customization, theintegration of tools that increase the versatility of the cell are proposed. An example of such tools is skill basedprogramming. By applying this technique a process can be intuitively adapted to the variations or customizations thateach product requires. The use of skills favours the reuse and generalization of developed robot programs.Regarding the variation of the production volumes, a system which permits a greater mobility and a faster reconfigurationis necessary. If in a certain situation a line has a production peak, mechanisms for balancing the loadwith a reasonable cost are required. In this respect, the architecture allows an easy integration of different roboticsystems, actuators, sensors, etc. In addition, thanks to the developed calibration and set-up techniques, the system canbe adapted to new workspaces at an effective time/cost.With respect to the third mentioned topic, an agent-based monitoring system is proposed. This module opens up amultitude of possibilities for the integration of auxiliary modules of protection and security for collaboration andinteraction between people and robots, something that will be necessary in the not so distant future.For demonstrating the advantages and adaptability improvement of the developed framework, a series of real usecases have been presented. In each of them different problematic has been resolved using developed skills,demonstrating how are adapted easily to the different casuistic

Skill-based reconfiguration of industrial mobile robots

Caused by a rising mass customisation and the high variety of equipment versions, the exibility of manufacturing systems in car productions has to be increased. In addition to a exible handling of production load changes or hardware breakdowns that are established research areas in literature, this thesis presents a skill-based recon guration mechanism for industrial mobile robots to enhance functional recon gurability. The proposed holonic multi-agent system is able to react to functional process changes while missing functionalities are created by self-organisation. Applied to a mobile commissioning system that is provided by AUDI AG, the suggested mechanism is validated in a real-world environment including the on-line veri cation of the recon gured robot functionality in a Validity Check. The present thesis includes an original contribution in three aspects: First, a recon - guration mechanism is presented that reacts in a self-organised way to functional process changes. The application layer of a hardware system converts a semantic description into functional requirements for a new robot skill. The result of this mechanism is the on-line integration of a new functionality into the running process. Second, the proposed system allows maintaining the productivity of the running process and exibly changing the robot hardware through provision of a hardware-abstraction layer. An encapsulated Recon guration Holon dynamically includes the actual con guration each time a recon guration is started. This allows reacting to changed environment settings. As the resulting agent that contains the new functionality, is identical in shape and behaviour to the existing skills, its integration into the running process is conducted without a considerable loss of productivity. Third, the suggested mechanism is composed of a novel agent design that allows implementing self-organisation during the encapsulated recon guration and dependability for standard process executions. The selective assignment of behaviour-based and cognitive agents is the basis for the exibility and e ectiveness of the proposed recon guration mechanism