Coordinated Robot Navigation via Hierarchical Clustering

We introduce the use of hierarchical clustering for relaxed, deterministic coordination and control of multiple robots. Traditionally an unsupervised learning method, hierarchical clustering offers a formalism for identifying and representing spatially cohesive and segregated robot groups at different resolutions by relating the continuous space of configurations to the combinatorial space of trees. We formalize and exploit this relation, developing computationally effective reactive algorithms for navigating through the combinatorial space in concert with geometric realizations for a particular choice of hierarchical clustering method. These constructions yield computationally effective vector field planners for both hierarchically invariant as well as transitional navigation in the configuration space. We apply these methods to the centralized coordination and control of $n$ perfectly sensed and actuated Euclidean spheres in a $d$-dimensional ambient space (for arbitrary $n$ and $d$). Given a desired configuration supporting a desired hierarchy, we construct a hybrid controller which is quadratic in $n$ and algebraic in $d$ and prove that its execution brings all but a measure zero set of initial configurations to the desired goal with the guarantee of no collisions along the way.Comment: 29 pages, 13 figures, 8 tables, extended version of a paper in preparation for submission to a journa

Value Iteration Networks on Multiple Levels of Abstraction

Learning-based methods are promising to plan robot motion without performing extensive search, which is needed by many non-learning approaches. Recently, Value Iteration Networks (VINs) received much interest since---in contrast to standard CNN-based architectures---they learn goal-directed behaviors which generalize well to unseen domains. However, VINs are restricted to small and low-dimensional domains, limiting their applicability to real-world planning problems. To address this issue, we propose to extend VINs to representations with multiple levels of abstraction. While the vicinity of the robot is represented in sufficient detail, the representation gets spatially coarser with increasing distance from the robot. The information loss caused by the decreasing resolution is compensated by increasing the number of features representing a cell. We show that our approach is capable of solving significantly larger 2D grid world planning tasks than the original VIN implementation. In contrast to a multiresolution coarse-to-fine VIN implementation which does not employ additional descriptive features, our approach is capable of solving challenging environments, which demonstrates that the proposed method learns to encode useful information in the additional features. As an application for solving real-world planning tasks, we successfully employ our method to plan omnidirectional driving for a search-and-rescue robot in cluttered terrain

Prospects of a mathematical theory of human behavior in complex man-machine systems tasks

A hierarchy of human activities is derived by analyzing automobile driving in general terms. A structural description leads to a block diagram and a time-sharing computer analogy. The range of applicability of existing mathematical models is considered with respect to the hierarchy of human activities in actual complex tasks. Other mathematical tools so far not often applied to man machine systems are also discussed. The mathematical descriptions at least briefly considered here include utility, estimation, control, queueing, and fuzzy set theory as well as artificial intelligence techniques. Some thoughts are given as to how these methods might be integrated and how further work might be pursued

SHOP2: An HTN Planning System

The SHOP2 planning system received one of the awards for distinguished performance in the 2002 International Planning Competition. This paper describes the features of SHOP2 which enabled it to excel in the competition, especially those aspects of SHOP2 that deal with temporal and metric planning domains

The VEX-93 environment as a hybrid tool for developing knowledge systems with different problem solving techniques

The paper describes VEX-93 as a hybrid environment for developing knowledge-based and problem solver systems. It integrates methods and techniques from artificial intelligence, image and signal processing and data analysis, which can be mixed. Two hierarchical levels of reasoning contains an intelligent toolbox with one upper strategic inference engine and four lower ones containing specific reasoning models: truth-functional (rule-based), probabilistic (causal networks), fuzzy (rule-based) and case-based (frames). There are image/signal processing-analysis capabilities in the form of programming languages with more than one hundred primitive functions. User-made programs are embeddable within knowledge basis, allowing the combination of perception and reasoning. The data analyzer toolbox contains a collection of numerical classification, pattern recognition and ordination methods, with neural network tools and a data base query language at inference engines's disposal. VEX-93 is an open system able to communicate with external computer programs relevant to a particular application. Metaknowledge can be used for elaborate conclusions, and man-machine interaction includes, besides windows and graphical interfaces, acceptance of voice commands and production of speech output. The system was conceived for real-world applications in general domains, but an example of a concrete medical diagnostic support system at present under completion as a cuban-spanish project is mentioned. Present version of VEX-93 is a huge system composed by about one and half millions of lines of C code and runs in microcomputers under Windows 3.1.Postprint (published version