COACHES Cooperative Autonomous Robots in Complex and Human Populated Environments

Public spaces in large cities are increasingly becoming complex and unwelcoming environments. Public spaces progressively become more hostile and unpleasant to use because of the overcrowding and complex information in signboards. It is in the interest of cities to make their public spaces easier to use, friendlier to visitors and safer to increasing elderly population and to citizens with disabilities. Meanwhile, we observe, in the last decade a tremendous progress in the development of robots in dynamic, complex and uncertain environments. The new challenge for the near future is to deploy a network of robots in public spaces to accomplish services that can help humans. Inspired by the aforementioned challenges, COACHES project addresses fundamental issues related to the design of a robust system of self-directed autonomous robots with high-level skills of environment modelling and scene understanding, distributed autonomous decision-making, short-term interacting with humans and robust and safe navigation in overcrowding spaces. To this end, COACHES will provide an integrated solution to new challenges on: (1) a knowledge-based representation of the environment, (2) human activities and needs estimation using Markov and Bayesian techniques, (3) distributed decision-making under uncertainty to collectively plan activities of assistance, guidance and delivery tasks using Decentralized Partially Observable Markov Decision Processes with efficient algorithms to improve their scalability and (4) a multi-modal and short-term human-robot interaction to exchange information and requests. COACHES project will provide a modular architecture to be integrated in real robots. We deploy COACHES at Caen city in a mall called “Rive de l’orne”. COACHES is a cooperative system consisting of ?xed cameras and the mobile robots. The ?xed cameras can do object detection, tracking and abnormal events detection (objects or behaviour). The robots combine these information with the ones perceived via their own sensor, to provide information through its multi-modal interface, guide people to their destinations, show tramway stations and transport goods for elderly people, etc.... The COACHES robots will use different modalities (speech and displayed information) to interact with the mall visitors, shopkeepers and mall managers. The project has enlisted an important an end-user (Caen la mer) providing the scenarios where the COACHES robots and systems will be deployed, and gather together universities with complementary competences from cognitive systems (SU), robust image/video processing (VUB, UNICAEN), and semantic scene analysis and understanding (VUB), Collective decision-making using decentralized partially observable Markov Decision Processes and multi-agent planning (UNICAEN, Sapienza), multi-modal and short-term human-robot interaction (Sapienza, UNICAEN

Formal methods and tools for the development of distributed and real time systems : Esprit Project 3096 (SPEC)

The Basic Research Action No. 3096, Formal Methods snd Tools for the Development of Distributed and Real Time Systems, is funded in the Area of Computer Science, under the ESPRIT Programme of the European Community. The coordinating institution is the Department of Computing Science, Eindhoven University of Technology, and the participating Institutions are the Institute of Computer Science of Crete. the Swedish Institute of Computer Science, the Programmimg Research Group of the University of Oxford, and the Computer Science Departments of the University of Manchester, Imperial College. Weizmann Institute of Science, Eindhoven University of Technology, IMAG Grenoble. Catholic University of Nijmegen, and the University of Liege. This document contains the synopsis. and part of the sections on objectives and area of advance, on baseline and rationale, on research goals, and on organisation of the action, as contained in the original proposal, submitted June, 198S. The section on the state of the art (18 pages) and the full list of references (21 pages) of the original proposal have been deleted because of limitation of available space

Search and planning under incomplete information : a study using Bridge card play

This thesis investigates problem-solving in domains featuring incomplete information and multiple agents with opposing goals. In particular, we describe Finesse --- a system that forms plans for the problem of declarer play in the game of Bridge. We begin by examining the problem of search. We formalise a best defence model of incomplete information games in which equilibrium point strategies can be identified, and identify two specific problems that can affect algorithms in such domains. In Bridge, we show that the best defence model corresponds to the typical model analysed in expert texts, and examine search algorithms which overcome the problems we have identified. Next, we look at how planning algorithms can be made to cope with the difficulties of such domains. This calls for the development of new techniques for representing uncertainty and actions with disjunctive effects, for coping with an opposition, and for reasoning about compound actions. We tackle these problems with a..

Glossary of software engineering laboratory terms

A glossary of terms used in the Software Engineering Laboratory (SEL) is presented. The terms are defined within the context of the software development environment for flight dynamics at Goddard Space Flight Center. A concise reference for clarifying and understanding the language employed in SEL documents and data collection forms is provided

Glossary of Software Engineering Laboratory terms

A glossary of terms used in the Software Engineering Laboratory (SEL) is given. The terms are defined within the context of the software development environment for flight dynamics at the Goddard Space Flight Center. A concise reference for clarifying the language employed in SEL documents and data collection forms is given. Basic software engineering concepts are explained and standard definitions for use by SEL personnel are established

Human-Agent Decision-making: Combining Theory and Practice

Extensive work has been conducted both in game theory and logic to model strategic interaction. An important question is whether we can use these theories to design agents for interacting with people? On the one hand, they provide a formal design specification for agent strategies. On the other hand, people do not necessarily adhere to playing in accordance with these strategies, and their behavior is affected by a multitude of social and psychological factors. In this paper we will consider the question of whether strategies implied by theories of strategic behavior can be used by automated agents that interact proficiently with people. We will focus on automated agents that we built that need to interact with people in two negotiation settings: bargaining and deliberation. For bargaining we will study game-theory based equilibrium agents and for argumentation we will discuss logic-based argumentation theory. We will also consider security games and persuasion games and will discuss the benefits of using equilibrium based agents.Comment: In Proceedings TARK 2015, arXiv:1606.0729