Task planning with uncertainty for robotic systems

In a practical robotic system, it is important to represent and plan sequences of operations and to be able to choose an efficient sequence from them for a specific task. During the generation and execution of task plans, different kinds of uncertainty may occur and erroneous states need to be handled to ensure the efficiency and reliability of the system. An approach to task representation, planning, and error recovery for robotic systems is demonstrated. Our approach to task planning is based on an AND/OR net representation, which is then mapped to a Petri net representation of all feasible geometric states and associated feasibility criteria for net transitions. Task decomposition of robotic assembly plans based on this representation is performed on the Petri net for robotic assembly tasks, and the inheritance of properties of liveness, safeness, and reversibility at all levels of decomposition are explored. This approach provides a framework for robust execution of tasks through the properties of traceability and viability. Uncertainty in robotic systems are modeled by local fuzzy variables, fuzzy marking variables, and global fuzzy variables which are incorporated in fuzzy Petri nets. Analysis of properties and reasoning about uncertainty are investigated using fuzzy reasoning structures built into the net. Two applications of fuzzy Petri nets, robot task sequence planning and sensor-based error recovery, are explored. In the first application, the search space for feasible and complete task sequences with correct precedence relationships is reduced via the use of global fuzzy variables in reasoning about subgoals. In the second application, sensory verification operations are modeled by mutually exclusive transitions to reason about local and global fuzzy variables on-line and automatically select a retry or an alternative error recovery sequence when errors occur. Task sequencing and task execution with error recovery capability for one and multiple soft components in robotic systems are investigated

Understanding jumping to conclusions in patients with persecutory delusions: working memory and intolerance of uncertainty

Background. Persecutory delusions are a key psychotic experience. A reasoning style known as ‘jumping to conclusions’ (JTC) – limited information gathering before reaching certainty in decision making – has been identified as a contributory factor in the occurrence of delusions. The cognitive processes that underpin JTC need to be determined in order to develop effective interventions for delusions. In the current study two alternative perspectives were tested: that JTC partially results from impairment in information-processing capabilities and that JTC is a motivated strategy to avoid uncertainty.Method. A group of 123 patients with persistent persecutory delusions completed assessments of JTC (the 60:40 beads task), IQ, working memory, intolerance of uncertainty, and psychiatric symptoms. Patients showing JTC were compared with patients not showing JTC.Results. A total of 30 (24%) patients with delusions showed JTC. There were no differences between patients who did and did not jump to conclusions in overall psychopathology. Patients who jumped to conclusions had poorer working memory performance, lower IQ, lower intolerance of uncertainty and lower levels of worry.Working memory and worry independently predicted the presence of JTC.Conclusions. Hasty decision making in patients with delusions may partly arise from difficulties in keeping information in mind. Interventions for JTC are likely to benefit from addressing working memory performance, while in vivo techniques for patients with delusions will benefit from limiting the demands on working memory. The study provides little evidence for a contribution to JTC from top down motivational beliefs about uncertainty

Neurons and symbols: a manifesto

We discuss the purpose of neural-symbolic integration including its principles, mechanisms and applications. We outline a cognitive computational model for neural-symbolic integration, position the model in the broader context of multi-agent systems, machine learning and automated reasoning, and list some of the challenges for the area of neural-symbolic computation to achieve the promise of effective integration of robust learning and expressive reasoning under uncertainty

Promises, Impositions, and other Directionals

Promises, impositions, proposals, predictions, and suggestions are categorized as voluntary co-operational methods. The class of voluntary co-operational methods is included in the class of so-called directionals. Directionals are mechanisms supporting the mutual coordination of autonomous agents. Notations are provided capable of expressing residual fragments of directionals. An extensive example, involving promises about the suitability of programs for tasks imposed on the promisee is presented. The example illustrates the dynamics of promises and more specifically the corresponding mechanism of trust updating and credibility updating. Trust levels and credibility levels then determine the way certain promises and impositions are handled. The ubiquity of promises and impositions is further demonstrated with two extensive examples involving human behaviour: an artificial example about an agent planning a purchase, and a realistic example describing technology mediated interaction concerning the solution of pay station failure related problems arising for an agent intending to leave the parking area.Comment: 55 page

Confidence: Its role in dependability cases for risk assessment

Society is increasingly requiring quantitative assessment of risk and associated dependability cases. Informally, a dependability case comprises some reasoning, based on assumptions and evidence, that supports a dependability claim at a particular level of confidence. In this paper we argue that a quantitative assessment of claim confidence is necessary for proper assessment of risk. We discuss the way in which confidence depends upon uncertainty about the underpinnings of the dependability case (truth of assumptions, correctness of reasoning, strength of evidence), and propose that probability is the appropriate measure of uncertainty. We discuss some of the obstacles to quantitative assessment of confidence (issues of composability of subsystem claims; of the multi-dimensional, multi-attribute nature of dependability claims; of the difficult role played by dependence between different kinds of evidence, assumptions, etc). We show that, even in simple cases, the confidence in a claim arising from a dependability case can be surprisingly low

KR3^3: An Architecture for Knowledge Representation and Reasoning in Robotics

This paper describes an architecture that combines the complementary strengths of declarative programming and probabilistic graphical models to enable robots to represent, reason with, and learn from, qualitative and quantitative descriptions of uncertainty and knowledge. An action language is used for the low-level (LL) and high-level (HL) system descriptions in the architecture, and the definition of recorded histories in the HL is expanded to allow prioritized defaults. For any given goal, tentative plans created in the HL using default knowledge and commonsense reasoning are implemented in the LL using probabilistic algorithms, with the corresponding observations used to update the HL history. Tight coupling between the two levels enables automatic selection of relevant variables and generation of suitable action policies in the LL for each HL action, and supports reasoning with violation of defaults, noisy observations and unreliable actions in large and complex domains. The architecture is evaluated in simulation and on physical robots transporting objects in indoor domains; the benefit on robots is a reduction in task execution time of 39% compared with a purely probabilistic, but still hierarchical, approach.Comment: The paper appears in the Proceedings of the 15th International Workshop on Non-Monotonic Reasoning (NMR 2014