6,162 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
Space robotics: Recent accomplishments and opportunities for future research
The Langley Guidance, Navigation, and Control Technical Committee (GNCTC) was one of six technical committees created in 1991 by the Chief Scientist, Dr. Michael F. Card. During the kickoff meeting Dr. Card charged the chairmen to: (1) establish a cross-Center committee; (2) support at least one workshop in a selected discipline; and (3) prepare a technical paper on recent accomplishments in the discipline and on opportunities for future research. The Guidance, Navigation, and Control Committee was formed and selected for focus on the discipline of Space robotics. This report is a summary of the committee's assessment of recent accomplishments and opportunities for future research. The report is organized as follows. First is an overview of the data sources used by the committee. Next is a description of technical needs identified by the committee followed by recent accomplishments. Opportunities for future research ends the main body of the report. It includes the primary recommendation of the committee that NASA establish a national space facility for the development of space automation and robotics, one element of which is a telerobotic research platform in space. References 1 and 2 are the proceedings of two workshops sponsored by the committee during its June 1991, through May 1992 term. The focus of the committee for the June 1992 - May 1993 term will be to further define to the recommended platform in space and to add an additional discipline which includes aircraft related GN&C issues. To the latter end members performing aircraft related research will be added to the committee. (A preliminary assessment of future opportunities in aircraft-related GN&C research has been included as appendix A.
Is there an integrative center in the vertebrate brain-stem? A robotic evaluation of a model of the reticular formation viewed as an action selection device
Neurobehavioral data from intact, decerebrate, and neonatal rats, suggests that the reticular formation provides
a brainstem substrate for action selection in the vertebrate central nervous system. In this article, Kilmer,
McCulloch and Blum’s (1969, 1997) landmark reticular formation model is described and re-evaluated, both in
simulation and, for the first time, as a mobile robot controller. Particular model configurations are found to
provide effective action selection mechanisms in a robot survival task using either simulated or physical robots.
The model’s competence is dependent on the organization of afferents from model sensory systems, and a genetic
algorithm search identified a class of afferent configurations which have long survival times. The results support
our proposal that the reticular formation evolved to provide effective arbitration between innate behaviors
and, with the forebrain basal ganglia, may constitute the integrative, ’centrencephalic’ core of vertebrate brain
architecture. Additionally, the results demonstrate that the Kilmer et al. model provides an alternative form of
robot controller to those usually considered in the adaptive behavior literature
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