Specification Patterns for Robotic Missions

Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need, a large number of domain-specific specification languages has been proposed. These, in addition to traditional logical languages, allow the use of formally specified missions for synthesis, verification, simulation, or guiding the implementation. For instance, the logical language LTL is commonly used by experts to specify missions, as an input for planners, which synthesize the behavior a robot should have. Unfortunately, domain-specific languages are usually tied to specific robot models, while logical languages such as LTL are difficult to use by non-experts. We present a catalog of 22 mission specification patterns for mobile robots, together with tooling for instantiating, composing, and compiling the patterns to create mission specifications. The patterns provide solutions for recurrent specification problems, each of which detailing the usage intent, known uses, relationships to other patterns, and---most importantly---a template mission specification in temporal logic. Our tooling produces specifications expressed in the LTL and CTL temporal logics to be used by planners, simulators, or model checkers. The patterns originate from 245 realistic textual mission requirements extracted from the robotics literature, and they are evaluated upon a total of 441 real-world mission requirements and 1251 mission specifications. Five of these reflect scenarios we defined with two well-known industrial partners developing human-size robots. We validated our patterns' correctness with simulators and two real robots

Resource-driven Substructural Defeasible Logic

Linear Logic and Defeasible Logic have been adopted to formalise different features relevant to agents: consumption of resources, and reasoning with exceptions. We propose a framework to combine sub-structural features, corresponding to the consumption of resources, with defeasibility aspects, and we discuss the design choices for the framework

Continuous Improvement Through Knowledge-Guided Analysis in Experience Feedback

Continuous improvement in industrial processes is increasingly a key element of competitiveness for industrial systems. The management of experience feedback in this framework is designed to build, analyze and facilitate the knowledge sharing among problem solving practitioners of an organization in order to improve processes and products achievement. During Problem Solving Processes, the intellectual investment of experts is often considerable and the opportunities for expert knowledge exploitation are numerous: decision making, problem solving under uncertainty, and expert configuration. In this paper, our contribution relates to the structuring of a cognitive experience feedback framework, which allows a flexible exploitation of expert knowledge during Problem Solving Processes and a reuse such collected experience. To that purpose, the proposed approach uses the general principles of root cause analysis for identifying the root causes of problems or events, the conceptual graphs formalism for the semantic conceptualization of the domain vocabulary and the Transferable Belief Model for the fusion of information from different sources. The underlying formal reasoning mechanisms (logic-based semantics) in conceptual graphs enable intelligent information retrieval for the effective exploitation of lessons learned from past projects. An example will illustrate the application of the proposed approach of experience feedback processes formalization in the transport industry sector

Logical operators for ontological modeling

We show that logic has more to offer to ontologists than standard first order and modal operators. We first describe some operators of linear logic which we believe are particularly suitable for ontological modeling, and suggest how to interpret them within an ontological framework. After showing how they can coexist with those of classical logic, we analyze three notions of artifact from the literature to conclude that these linear operators allow for reducing the ontological commitment needed for their formalization, and even simplify their logical formulation

Learning difficulties: collaborative inter-organisational information system use within UK retail supply networks

Inter-organisational information systems (IOIS) have been introduced to support collaborative retail supply relationships, yet how these systems are used is not well understood. This paper presents analysis of an ideographic case study of a dynamic United Kingdom grocery sector supply network. Using Archer's (1995) social change theory we explore how changes to buyer-supplier relationship structures re-conditioned individual actors' situational logics in a way that created network learning difficulties. Our analysis shows how actors' inter-organisational information system use reinforced pre-existing bargaining positions and improved already powerful actors' relative negotiating strength. This paper demonstrates the value of multi-level analysis in furthering understanding of the complex relationships between processes of network and individual learning

A Backward-traversal-based Approach for Symbolic Model Checking of Uniform Strategies for Constrained Reachability

Since the introduction of Alternating-time Temporal Logic (ATL), many logics have been proposed to reason about different strategic capabilities of the agents of a system. In particular, some logics have been designed to reason about the uniform memoryless strategies of such agents. These strategies are the ones the agents can effectively play by only looking at what they observe from the current state. ATL_ir can be seen as the core logic to reason about such uniform strategies. Nevertheless, its model-checking problem is difficult (it requires a polynomial number of calls to an NP oracle), and practical algorithms to solve it appeared only recently. This paper proposes a technique for model checking uniform memoryless strategies. Existing techniques build the strategies from the states of interest, such as the initial states, through a forward traversal of the system. On the other hand, the proposed approach builds the winning strategies from the target states through a backward traversal, making sure that only uniform strategies are explored. Nevertheless, building the strategies from the ground up limits its applicability to constrained reachability objectives only. This paper describes the approach in details and compares it experimentally with existing approaches implemented into a BDD-based framework. These experiments show that the technique is competitive on the cases it can handle.Comment: In Proceedings GandALF 2017, arXiv:1709.0176

Temporal Data Modeling and Reasoning for Information Systems

Temporal knowledge representation and reasoning is a major research field in Artificial Intelligence, in Database Systems, and in Web and Semantic Web research. The ability to model and process time and calendar data is essential for many applications like appointment scheduling, planning, Web services, temporal and active database systems, adaptive Web applications, and mobile computing applications. This article aims at three complementary goals. First, to provide with a general background in temporal data modeling and reasoning approaches. Second, to serve as an orientation guide for further specific reading. Third, to point to new application fields and research perspectives on temporal knowledge representation and reasoning in the Web and Semantic Web

Understanding Opportunities in Social Entrepreneurship: A Critical Realist Abstraction

The file attached to this record is the author's final peer reviewed version. The Publisher's final version can be found by following the DOI link.This paper extends social entrepreneurship (SE) research by drawing upon a critical realist perspective to analyse dynamic structure/agency relations in SE opportunity emergence, illustrated by empirical evidence. Our findings demonstrate an agential aspect (opportunity actualisation following a path-dependent seeding-growing-shaping process) and a structural aspect (institutional, cognitive and embedded structures necessary for SE opportunity emergence) related to SE opportunities. These structures provide three boundary conditions for SE agency: institutional discrimination, an SE belief system and social feasibility. Within this paper, we develop a novel theoretical framework to analyse SE opportunities plus, an applicable tool to advance related empirical research