Design an evaluation of RoboCup humanoid goalie

P. 19-26In this article we describe the ethological inspired architecture we have developed and how it has been used to implement a humanoid goalkeeper according to the regulations of the two-legged Standard Platform League of the RoboCup Federation. We present relevant concepts borrowed from ethology that we have successfully used for generating autonomous behaviours in mobile robotics, such as the use of ethograms in robotic pets or the ideas of schemata, or the use of fixed actions patterns to implement reactivity. Then we discuss the implementation of this architecture on the Nao biped robot. Finally, we propose a method for its evaluation and validation and analyse the results obtained during RoboCup real competition, which allowed us to test first hand how it worked in a real environmentS

An Expressive Language and Efficient Execution System for Software Agents

Software agents can be used to automate many of the tedious, time-consuming information processing tasks that humans currently have to complete manually. However, to do so, agent plans must be capable of representing the myriad of actions and control flows required to perform those tasks. In addition, since these tasks can require integrating multiple sources of remote information ? typically, a slow, I/O-bound process ? it is desirable to make execution as efficient as possible. To address both of these needs, we present a flexible software agent plan language and a highly parallel execution system that enable the efficient execution of expressive agent plans. The plan language allows complex tasks to be more easily expressed by providing a variety of operators for flexibly processing the data as well as supporting subplans (for modularity) and recursion (for indeterminate looping). The executor is based on a streaming dataflow model of execution to maximize the amount of operator and data parallelism possible at runtime. We have implemented both the language and executor in a system called THESEUS. Our results from testing THESEUS show that streaming dataflow execution can yield significant speedups over both traditional serial (von Neumann) as well as non-streaming dataflow-style execution that existing software and robot agent execution systems currently support. In addition, we show how plans written in the language we present can represent certain types of subtasks that cannot be accomplished using the languages supported by network query engines. Finally, we demonstrate that the increased expressivity of our plan language does not hamper performance; specifically, we show how data can be integrated from multiple remote sources just as efficiently using our architecture as is possible with a state-of-the-art streaming-dataflow network query engine

Arquitecturas de Software para el diseño de Robots Móviles Autónomos

La arquitectura de software es en gran parte el estudio de la estructura del software, y como tal puede aplicarse en el desarrollo de sistemas pertenecientes a diversos dominios. En este caso se consideraron los sistemas para el control de robots móviles autónomos, los cuales presentan estructuras particulares. El objetivo de este trabajo es evaluar las alternativas de diseño para arquitecturas de robots móviles autónomos, aspectos que permitieron la propuesta de una arquitectura de control para robots y un ambiente de trabajo para la evaluación de algoritmos de planificación y navegación utilizando esta arquitectura. Estos sistemas se encuentran en la etapa de implementación.Eje: Ingeniería del SoftwareRed de Universidades con Carreras en Informática (RedUNCI

Arquitecturas de Software para el diseño de Robots Móviles Autónomos

La arquitectura de software es en gran parte el estudio de la estructura del software, y como tal puede aplicarse en el desarrollo de sistemas pertenecientes a diversos dominios. En este caso se consideraron los sistemas para el control de robots móviles autónomos, los cuales presentan estructuras particulares. El objetivo de este trabajo es evaluar las alternativas de diseño para arquitecturas de robots móviles autónomos, aspectos que permitieron la propuesta de una arquitectura de control para robots y un ambiente de trabajo para la evaluación de algoritmos de planificación y navegación utilizando esta arquitectura. Estos sistemas se encuentran en la etapa de implementación.Eje: Ingeniería del SoftwareRed de Universidades con Carreras en Informática (RedUNCI

Arquitecturas de Software para el diseño de Robots Móviles Autónomos

La arquitectura de software es en gran parte el estudio de la estructura del software, y como tal puede aplicarse en el desarrollo de sistemas pertenecientes a diversos dominios. En este caso se consideraron los sistemas para el control de robots móviles autónomos, los cuales presentan estructuras particulares. El objetivo de este trabajo es evaluar las alternativas de diseño para arquitecturas de robots móviles autónomos, aspectos que permitieron la propuesta de una arquitectura de control para robots y un ambiente de trabajo para la evaluación de algoritmos de planificación y navegación utilizando esta arquitectura. Estos sistemas se encuentran en la etapa de implementación.Eje: Ingeniería del SoftwareRed de Universidades con Carreras en Informática (RedUNCI

Unified Behavior Framework for Reactive Robot Control

Behavior-based systems form the basis of autonomous control for many robots. In this article, we demonstrate that a single software framework can be used to represent many existing behavior based approaches. The unified behavior framework presented, incorporates the critical ideas and concepts of the existing reactive controllers. Additionally, the modular design of the behavior framework: (1) simplifies development and testing; (2) promotes the reuse of code; (3) supports designs that scale easily into large hierarchies while restricting code complexity; and (4) allows the behavior based system developer the freedom to use the behavior system they feel will function the best. When a hybrid or three layer control architecture includes the unified behavior framework, a common interface is shared by all behaviors, leaving the higher order planning and sequencing elements free to interchange behaviors during execution to achieve high level goals and plans. The framework\u27s ability to compose structures from independent elements encourages experimentation and reuse while isolating the scope of troubleshooting to the behavior composition. The ability to use elemental components to build and evaluate behavior structures is demonstrated using the Robocode simulation environment. Additionally, the ability of a reactive controller to change its active behavior during execution is shown in a goal seeking robot implementation

A biologically inspired architecture for an autonomous and social robot

Lately, lots of effort has been put into the construction of robots able to live among humans. This fact has favored the development of personal or social robots, which are expected to behave in a natural way. This implies that these robots could meet certain requirements, for example, to be able to decide their own actions (autonomy), to be able to make deliberative plans (reasoning), or to be able to have an emotional behavior in order to facilitate human-robot interaction. In this paper, the authors present a bioinspired control architecture for an autonomous and social robot, which tries to accomplish some of these features. In order to develop this new architecture, authors have used as a base a prior hybrid control architecture (AD) that is also biologically inspired. Nevertheless, in the later, the task to be accomplished at each moment is determined by a fix sequence processed by the Main Sequencer. Therefore, the main sequencer of the architecture coordinates the previously programmed sequence of skills that must be executed. In the new architecture, the main sequencer is substituted by a decision making system based on drives, motivations, emotions, and self-learning, which decides the proper action at every moment according to robot's state. Consequently, the robot improves its autonomy since the added decision making system will determine the goal and consequently the skills to be executed. A basic version of this new architecture has been implemented on a real robotic platform. Some experiments are shown at the end of the paper.This work has been supported by the Spanish Government through the project called “Peer to Peer Robot-Human Interaction” (R2H), of MEC (Ministry of Science and Education), the project “A new approach to social robotics” (AROS), of MICINN (Ministry of Science and Innovation), the CAM Project S2009/DPI-1559/ROBOCITY2030 II, developed by the research team RoboticsLab at the University Carlos III of Madrid

De simbólicos vs. subsimbólicos, a los robots etoinspirados

En la Inteligencia Artificial, desde sus orígenes, han existido dos corrientes básicas, la simbólica y la subsimbólica. Estas dos aproximaciones han tenido gran influencia también en la robótica. En este artículo queremos presentar un enfoque menos conocido, el de la etología, y en concreto su aplicación a la generación de comportamiento autónomo en robots móviles. Para ello presentamos los fundamentos de la "Jerarquía Dinámica de Esquemas", una arquitectura para el control de robots móviles, basada en la composición de unidades simples denominadas "esquemas" siguiendo las teorías etológicas de Arbib. Igualmente se presentan experimentos preliminares que validan esta aproximación y se discute su viabilidad y se presentan los trabajos previstos para continuar investigando en esta líne