Critical Analysis of Programming in Societies of Behaviors

Programming in societies of behavior-agents is emerging as a promising method for creating mobile robot control systems that are responsive both to internal priorities for action and to external world constraints. It is essentially a new approach to finding modularities in real-time control systems in which module boundaries are sought not between separate information processing functions, but between separate task-achieving units. Task achieving units for complex behaviors are created by merging together the task-achieving units from simpler component behaviors into societies with competing and cooperating parts. This paper surveys the areas of agreement and disagreement in four approaches to programming with societies of behaviors. By analyzing where the systems differ, both on what constitutes a task-achieving unit and on how to merge such units together, this paper hopes to lay the groundwork for future work on controlling robust mobile robots using this approach.MIT Artificial Intelligence Laborator

Dynamic Behavior Sequencing in a Hybrid Robot Architecture

Hybrid robot control architectures separate plans, coordination, and actions into separate processing layers to provide deliberative and reactive functionality. This approach promotes more complex systems that perform well in goal-oriented and dynamic environments. In various architectures, the connections and contents of the functional layers are tightly coupled so system updates and changes require major changes throughout the system. This work proposes an abstract behavior representation, a dynamic behavior hierarchy generation algorithm, and an architecture design to reduce this major change incorporation process. The behavior representation provides an abstract interface for loose coupling of behavior planning and execution components. The hierarchy generation algorithm utilizes the interface allowing dynamic sequencing of behaviors based on behavior descriptions and system objectives without knowledge of the low-level implementation or the high-level goals the behaviors achieve. This is accomplished within the proposed architecture design, which is based on the Three Layer Architecture (TLA) paradigm. The design provides functional decomposition of system components with respect to levels of abstraction and temporal complexity. The layers and components within this architecture are independent of surrounding components and are coupled only by the linking mechanisms that the individual components and layers allow. The experiments in this thesis demonstrate that the: 1) behavior representation provides an interface for describing a behavior’s functionality without restricting or dictating its actual implementation; 2) hierarchy generation algorithm utilizes the representation interface for accomplishing high-level tasks through dynamic behavior sequencing; 3) representation, control logic, and architecture design create a loose coupling, but defined link, between the planning and behavior execution layer of the hybrid architecture, which creates a system-of-systems implementation that requires minimal reprogramming for system modifications

Hardware/Software Codesign

The current state of the art technology in integrated circuits allows the incorporation of multiple processor cores and memory arrays, in addition to application specific hardware, on a single substrate. As silicon technology has become more advanced, allowing the implementation of more complex designs, systems have begun to incorporate considerable amounts of embedded software [3]. Thus it becomes increasingly necessary for the system designers to have knowledge on both hardware and software to make efficient design tradeoffs. This is where hardware/software codesign comes into existence

Unified Behavior Framework for Reactive Robot Control in Real-Time Systems

Endeavors in mobile robotics focus on developing autonomous vehicles that operate in dynamic and uncertain environments. By reducing the need for human-in- the-loop control, unmanned vehicles are utilized to achieve tasks considered dull or dangerous by humans. Because unexpected latency can adversely affect the quality of an autonomous system\u27s operations, which in turn can affect lives and property in the real-world, their ability to detect and handle external events is paramount to providing safe and dependable operation. Behavior-based systems form the basis of autonomous control for many robots. This thesis presents the unified behavior framework, a new and novel approach which incorporates the critical ideas and concepts of the existing reactive controllers in an effort to simplify development without locking the system developer into using any single behavior system. The modular design of the framework is based on modern software engineering principles and only specifies a functional interface for components, leaving the implementation details to the developers. In addition to its use of industry standard techniques in the design of reactive controllers, the unified behavior framework guarantees the responsiveness of routines that are critical to the vehicle\u27s safe operation by allowing individual behaviors to be scheduled by a real-time process controller. The experiments in this thesis demonstrate the ability of the framework to: 1) interchange behavioral components during execution to generate various global behavior attributes; 2) apply genetic programming techniques to automate the discovery of effective structures for a domain that are up to 122 percent better than those crafted by an expert; and 3) leverage real-time scheduling technologies to guarantee the responsiveness of time critical routines regardless of the system\u27s computational load

Modeling, Simulation and Emulation of Intelligent Domotic Environments

Intelligent Domotic Environments are a promising approach, based on semantic models and commercially off-the-shelf domotic technologies, to realize new intelligent buildings, but such complexity requires innovative design methodologies and tools for ensuring correctness. Suitable simulation and emulation approaches and tools must be adopted to allow designers to experiment with their ideas and to incrementally verify designed policies in a scenario where the environment is partly emulated and partly composed of real devices. This paper describes a framework, which exploits UML2.0 state diagrams for automatic generation of device simulators from ontology-based descriptions of domotic environments. The DogSim simulator may simulate a complete building automation system in software, or may be integrated in the Dog Gateway, allowing partial simulation of virtual devices alongside with real devices. Experiments on a real home show that the approach is feasible and can easily address both simulation and emulation requirement

FOAL 2004 Proceedings: Foundations of Aspect-Oriented Languages Workshop at AOSD 2004

Aspect-oriented programming is a paradigm in software engineering and FOAL logos courtesy of Luca Cardelli programming languages that promises better support for separation of concerns. The third Foundations of Aspect-Oriented Languages (FOAL) workshop was held at the Third International Conference on Aspect-Oriented Software Development in Lancaster, UK, on March 23, 2004. This workshop was designed to be a forum for research in formal foundations of aspect-oriented programming languages. The call for papers announced the areas of interest for FOAL as including, but not limited to: semantics of aspect-oriented languages, specification and verification for such languages, type systems, static analysis, theory of testing, theory of aspect composition, and theory of aspect translation (compilation) and rewriting. The call for papers welcomed all theoretical and foundational studies of foundations of aspect-oriented languages. The goals of this FOAL workshop were to: � Make progress on the foundations of aspect-oriented programming languages. � Exchange ideas about semantics and formal methods for aspect-oriented programming languages. � Foster interest within the programming language theory and types communities in aspect-oriented programming languages. � Foster interest within the formal methods community in aspect-oriented programming and the problems of reasoning about aspect-oriented programs. The papers at the workshop, which are included in the proceedings, were selected frompapers submitted by researchers worldwide. Due to time limitations at the workshop, not all of the submitted papers were selected for presentation. FOAL also welcomed an invited talk by James Riely (DePaul University), the abstract of which is included below. The workshop was organized by Gary T. Leavens (Iowa State University), Ralf L?ammel (CWI and Vrije Universiteit, Amsterdam), and Curtis Clifton (Iowa State University). The program committee was chaired by L?ammel and included L?ammel, Leavens, Clifton, Lodewijk Bergmans (University of Twente), John Tang Boyland (University of Wisconsin, Milwaukee), William R. Cook (University of Texas at Austin), Tzilla Elrad (Illinois Institute of Technology), Kathleen Fisher (AT&T Labs�Research), Radha Jagadeesan (DePaul University), Shmuel Katz (Technion�Israel Institute of Technology), Shriram Krishnamurthi (Brown University), Mira Mezini (Darmstadt University of Technology), Todd Millstein (University of California, Los Angeles), Benjamin C. Pierce (University of Pennsylvania), Henny Sipma (Stanford University), Mario S?udholt ( ?Ecole des Mines de Nantes), and David Walker (Princeton University). We thank the organizers of AOSD 2004 for hosting the workshop

Hierarchical Combination of Internal and External Domain-Specific Languages for Scientific Computing

To adapt established methods of software engineering for scientific computing, we propose a software development approach for interdisciplinary teams of scientists called Sprat. The approach is organized around a hierarchical architecture that combines internal and external domain-specific languages (DSLs). For its evaluation, Sprat is employed in the implementation of a marine ecosystem model. We highlight what is to be observed while integrating the DSLs into the hierarchy in order to enable a successful cooperation of scientists in interdisciplinary teams as well as to achieve a maintainable code base

Agents for educational games and simulations

This book consists mainly of revised papers that were presented at the Agents for Educational Games and Simulation (AEGS) workshop held on May 2, 2011, as part of the Autonomous Agents and MultiAgent Systems (AAMAS) conference in Taipei, Taiwan. The 12 full papers presented were carefully reviewed and selected from various submissions. The papers are organized topical sections on middleware applications, dialogues and learning, adaption and convergence, and agent applications