53,768 research outputs found
Towards Error Handling in a DSL for Robot Assembly Tasks
This work-in-progress paper presents our work with a domain specific language
(DSL) for tackling the issue of programming robots for small-sized batch
production. We observe that as the complexity of assembly increases so does the
likelihood of errors, and these errors need to be addressed. Nevertheless, it
is essential that programming and setting up the assembly remains fast, allows
quick changeovers, easy adjustments and reconfigurations. In this paper we
present an initial design and implementation of extending an existing DSL for
assembly operations with error specification, error handling and advanced move
commands incorporating error tolerance. The DSL is used as part of a framework
that aims at tackling uncertainties through a probabilistic approach.Comment: Presented at DSLRob 2014 (arXiv:cs/1411.7148
Probabilistic Logic Programming with Beta-Distributed Random Variables
We enable aProbLog---a probabilistic logical programming approach---to reason
in presence of uncertain probabilities represented as Beta-distributed random
variables. We achieve the same performance of state-of-the-art algorithms for
highly specified and engineered domains, while simultaneously we maintain the
flexibility offered by aProbLog in handling complex relational domains. Our
motivation is that faithfully capturing the distribution of probabilities is
necessary to compute an expected utility for effective decision making under
uncertainty: unfortunately, these probability distributions can be highly
uncertain due to sparse data. To understand and accurately manipulate such
probability distributions we need a well-defined theoretical framework that is
provided by the Beta distribution, which specifies a distribution of
probabilities representing all the possible values of a probability when the
exact value is unknown.Comment: Accepted for presentation at AAAI 201
- …