17,832 research outputs found
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
A uniform framework for modelling nondeterministic, probabilistic, stochastic, or mixed processes and their behavioral equivalences
Labeled transition systems are typically used as behavioral models of concurrent processes, and the labeled transitions define the a one-step state-to-state reachability relation. This model can be made generalized by modifying the transition relation to associate a state reachability distribution, rather than a single target state, with any pair of source state and transition label. The state reachability distribution becomes a function mapping each possible target state to a value that expresses the degree of one-step reachability of that state. Values are taken from a preordered set equipped with a minimum that denotes unreachability. By selecting suitable preordered sets, the resulting model, called ULTraS from Uniform Labeled Transition System, can be specialized to capture well-known models of fully nondeterministic processes (LTS), fully
probabilistic processes (ADTMC), fully stochastic processes (ACTMC), and of nondeterministic and probabilistic (MDP) or nondeterministic and stochastic (CTMDP) processes. This uniform treatment of different behavioral models extends to behavioral equivalences. These can be defined on ULTraS by relying on appropriate measure functions that expresses the degree of reachability of a set of states when performing
single-step or multi-step computations. It is shown that the specializations of bisimulation, trace, and testing
equivalences for the different classes of ULTraS coincide with the behavioral equivalences defined in the literature over traditional models
Behavior Trees in Robotics and AI: An Introduction
A Behavior Tree (BT) is a way to structure the switching between different
tasks in an autonomous agent, such as a robot or a virtual entity in a computer
game. BTs are a very efficient way of creating complex systems that are both
modular and reactive. These properties are crucial in many applications, which
has led to the spread of BT from computer game programming to many branches of
AI and Robotics. In this book, we will first give an introduction to BTs, then
we describe how BTs relate to, and in many cases generalize, earlier switching
structures. These ideas are then used as a foundation for a set of efficient
and easy to use design principles. Properties such as safety, robustness, and
efficiency are important for an autonomous system, and we describe a set of
tools for formally analyzing these using a state space description of BTs. With
the new analysis tools, we can formalize the descriptions of how BTs generalize
earlier approaches. We also show the use of BTs in automated planning and
machine learning. Finally, we describe 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
Proposed shunt rounding technique for large-scale security constrained loss minimization
The official published version can be obtained from the link below - Copyright @ 2010 IEEE.Optimal reactive power flow applications often model large numbers of discrete shunt devices as continuous variables, which are rounded to their nearest discrete value at the final iteration. This can degrade optimality. This paper presents novel methods based on probabilistic and adaptive threshold approaches that can extend existing security constrained optimal reactive power flow methods to effectively solve large-scale network problems involving discrete shunt devices. Loss reduction solutions from the proposed techniques were compared to solutions from the mixed integer nonlinear mathematical programming algorithm (MINLP) using modified IEEE standard networks up to 118 buses. The proposed techniques were also applied to practical large-scale network models of Great Britain. The results show that the proposed techniques can achieve improved loss minimization solutions when compared to the standard rounding method.This work was supported in part by the National Grid and in part by the EPSRC. Paper no. TPWRS-00653-2009
Chaining Test Cases for Reactive System Testing (extended version)
Testing of synchronous reactive systems is challenging because long input
sequences are often needed to drive them into a state at which a desired
feature can be tested. This is particularly problematic in on-target testing,
where a system is tested in its real-life application environment and the time
required for resetting is high. This paper presents an approach to discovering
a test case chain---a single software execution that covers a group of test
goals and minimises overall test execution time. Our technique targets the
scenario in which test goals for the requirements are given as safety
properties. We give conditions for the existence and minimality of a single
test case chain and minimise the number of test chains if a single test chain
is infeasible. We report experimental results with a prototype tool for C code
generated from Simulink models and compare it to state-of-the-art test suite
generators.Comment: extended version of paper published at ICTSS'1
Proactive and reactive strategies for resource-constrained project scheduling with uncertain resource availabilities.
Research concerning project planning under uncertainty has primarily focused on the stochastic resource-constrained project scheduling problem (stochastic RCPSP), an extension of the basic CPSP, in which the assumption of deterministic activity durations is dropped. In this paper, we introduce a new variant of the RCPSP for which the uncertainty is modeled by means of resource availabilities that are subject to unforeseen breakdowns. Our objective is to build a robust schedule that meets the project due date and minimizes the schedule instability cost, defined as the expected weighted sum of the absolute deviations between the planned and actually realized activity starting times during project execution. We describe how stochastic resource breakdowns can be modeled, which reaction is recommended when are source infeasibility occurs due to a breakdown and how one can protect the initial schedule from the adverse effects of potential breakdowns.
A flexible architecture for modeling and simulation of diffusional association
Up to now, it is not possible to obtain analytical solutions for complex
molecular association processes (e.g. Molecule recognition in Signaling or
catalysis). Instead Brownian Dynamics (BD) simulations are commonly used to
estimate the rate of diffusional association, e.g. to be later used in
mesoscopic simulations. Meanwhile a portfolio of diffusional association (DA)
methods have been developed that exploit BD.
However, DA methods do not clearly distinguish between modeling, simulation,
and experiment settings. This hampers to classify and compare the existing
methods with respect to, for instance model assumptions, simulation
approximations or specific optimization strategies for steering the computation
of trajectories.
To address this deficiency we propose FADA (Flexible Architecture for
Diffusional Association) - an architecture that allows the flexible definition
of the experiment comprising a formal description of the model in SpacePi,
different simulators, as well as validation and analysis methods. Based on the
NAM (Northrup-Allison-McCammon) method, which forms the basis of many existing
DA methods, we illustrate the structure and functioning of FADA. A discussion
of future validation experiments illuminates how the FADA can be exploited in
order to estimate reaction rates and how validation techniques may be applied
to validate additional features of the model
Specification Patterns for Robotic Missions
Mobile and general-purpose robots increasingly support our everyday life,
requiring dependable robotics control software. Creating such software mainly
amounts to implementing their complex behaviors known as missions. Recognizing
the need, a large number of domain-specific specification languages has been
proposed. These, in addition to traditional logical languages, allow the use of
formally specified missions for synthesis, verification, simulation, or guiding
the implementation. For instance, the logical language LTL is commonly used by
experts to specify missions, as an input for planners, which synthesize the
behavior a robot should have. Unfortunately, domain-specific languages are
usually tied to specific robot models, while logical languages such as LTL are
difficult to use by non-experts. We present a catalog of 22 mission
specification patterns for mobile robots, together with tooling for
instantiating, composing, and compiling the patterns to create mission
specifications. The patterns provide solutions for recurrent specification
problems, each of which detailing the usage intent, known uses, relationships
to other patterns, and---most importantly---a template mission specification in
temporal logic. Our tooling produces specifications expressed in the LTL and
CTL temporal logics to be used by planners, simulators, or model checkers. The
patterns originate from 245 realistic textual mission requirements extracted
from the robotics literature, and they are evaluated upon a total of 441
real-world mission requirements and 1251 mission specifications. Five of these
reflect scenarios we defined with two well-known industrial partners developing
human-size robots. We validated our patterns' correctness with simulators and
two real robots
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