21,246 research outputs found
Modelling and analyzing adaptive self-assembling strategies with Maude
Building adaptive systems with predictable emergent behavior is a challenging task and it is becoming a critical need. The research community has accepted the challenge by introducing approaches of various nature: from software architectures, to programming paradigms, to analysis techniques. We recently proposed a conceptual framework for adaptation centered around the role of control data. In this paper we show that it can be naturally realized in a reflective logical language like Maude by using the Reflective Russian Dolls model. Moreover, we exploit this model to specify, validate and analyse a prominent example of adaptive system: robot swarms equipped with self-assembly strategies. The analysis exploits the statistical model checker PVeStA
Use-cases on evolution
This report presents a set of use cases for evolution and reactivity for data in the Web and
Semantic Web. This set is organized around three different case study scenarios, each of them
is related to one of the three different areas of application within Rewerse. Namely, the scenarios
are: “The Rewerse Information System and Portal”, closely related to the work of A3
– Personalised Information Systems; “Organizing Travels”, that may be related to the work
of A1 – Events, Time, and Locations; “Updates and evolution in bioinformatics data sources”
related to the work of A2 – Towards a Bioinformatics Web
Answer-set programming as a new approach to event-sequence testing
In many applications, faults are triggered by events that occur in a particular order. Based on the assumption that most bugs are caused by the interaction of a low number of events, Kuhn et al. recently introduced sequence covering arrays (SCAs) as suitable designs for event sequence testing. In practice, directly applying SCAs for testing is often impaired by additional constraints, and SCAs have to be adapted to fit application-specific needs. Modifying precomputed SCAs to account for problem variations can be problematic, if not impossible, and developing dedicated algorithms is costly. In this paper, we propose answer-set programming (ASP), a well-known knowledge-representation formalism from the area of artificial intelligence based on logic programming, as a declarative paradigm for computing SCAs. Our approach allows to concisely state complex coverage criteria in an elaboration tolerant way, i.e., small variations of a problem specification require only small modifications of the ASP representation
Modelling and analyzing adaptive self-assembling strategies with Maude
Building adaptive systems with predictable emergent behavior is a challenging task and it is becoming a critical need. The research community has accepted the challenge by introducing approaches of various nature: from software architectures, to programming paradigms, to analysis techniques. We recently proposed a conceptual framework for adaptation centered around the role of control data. In this paper we show that it can be naturally realized in a reflective logical language like Maude by using the Reflective Russian Dolls model. Moreover, we exploit this model to specify and analyse a prominent example of adaptive system: robot swarms equipped with obstacle-avoidance self-assembly strategies. The analysis exploits the statistical model checker PVesta
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
Narrative based Postdictive Reasoning for Cognitive Robotics
Making sense of incomplete and conflicting narrative knowledge in the
presence of abnormalities, unobservable processes, and other real world
considerations is a challenge and crucial requirement for cognitive robotics
systems. An added challenge, even when suitably specialised action languages
and reasoning systems exist, is practical integration and application within
large-scale robot control frameworks.
In the backdrop of an autonomous wheelchair robot control task, we report on
application-driven work to realise postdiction triggered abnormality detection
and re-planning for real-time robot control: (a) Narrative-based knowledge
about the environment is obtained via a larger smart environment framework; and
(b) abnormalities are postdicted from stable-models of an answer-set program
corresponding to the robot's epistemic model. The overall reasoning is
performed in the context of an approximate epistemic action theory based
planner implemented via a translation to answer-set programming.Comment: Commonsense Reasoning Symposium, Ayia Napa, Cyprus, 201
Reasoning about Action: An Argumentation - Theoretic Approach
We present a uniform non-monotonic solution to the problems of reasoning
about action on the basis of an argumentation-theoretic approach. Our theory is
provably correct relative to a sensible minimisation policy introduced on top
of a temporal propositional logic. Sophisticated problem domains can be
formalised in our framework. As much attention of researchers in the field has
been paid to the traditional and basic problems in reasoning about actions such
as the frame, the qualification and the ramification problems, approaches to
these problems within our formalisation lie at heart of the expositions
presented in this paper
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