Robot planning based on boolean specifications using petri net models

In this paper, we propose an automated method for planning a team of mobile robots such that a Boolean-based mission is accomplished. The task consists of logical requirements over some regions of interest for the agents'' trajectories and for their final states. In other words, we allow combinatorial specifications defining desired final states whose attainment includes visits to, avoidance of, and ending in certain regions. The path planning approach should select such final states that optimize a certain global cost function. In particular, we consider minimum expected traveling distance of the team and reduce congestions. A Petri net (PN) with outputs models the movement capabilities of the team and the regions of interest. The imposed specification is translated to a set of linear restrictions for some binary variables, the robot movement capabilities are formulated as linear constraints on PN markings, and the evaluations of the binary variables are linked with PN markings via linear inequalities. This allows us to solve an integer linear programming problem whose solution yields robotic trajectories satisfying the task

Sociability in virtual citizen science

Past research suggests that sociability can enhance volunteers’ experiences of virtual citizen science (VCS). We define four types of sociability. We also describe how outreach events - ‘Thinkcamps’ – can be used to support the design of social tools for VCS platforms

Sampling-based path planning for multi-robot systems with co-safe linear temporal logic specifications

© 2017, Springer International Publishing AG. This paper addresses the problem of path planning for multiple robots under high-level specifications given as syntactically co-safe linear temporal logic formulae. Most of the existing solutions use the notion of abstraction to obtain a discrete transition system that simulates the dynamics of the robot. Nevertheless, these solutions have poor scalability with the dimension of the configuration space of the robots. For problems with a single robot, sampling-based methods have been presented as a solution to alleviate this limitation. The proposed solution extends the idea of sampling methods to the multiple robot case. The method samples the configuration space of the robots to incrementally constructs a transition system that models the motion of all the robots as a group. This transition system is then combined with a Büchi automaton, representing the specification, in a Cartesian product. The product is updated with each expansion of the transition system until a solution is found. We also present a new algorithm that improves the performance of the proposed method by guiding the expansion of the transition system. The method is demonstrated with examples considering different number of robots and specifications

Automatic deployment of autonomous cars in a robotic urban-like environment

Abstract-We present a computational framework and experimental setup for deployment of autonomous cars in a miniature Robotic Urban-Like Environment (RULE). The specifications are given in rich, human-like language as temporal logic statements about roads, intersections, and parking spaces. We use transition systems to model the motion and sensing capabilities of the robots and the topology of the environment and use tools resembling model checking to generate robot control strategies and to verify the correctness of the solution. The experimental setup is based on Khepera III robots, which move autonomously on streets while observing traffic rules

Motivations, Learning and Creativity in Online Citizen Sceince Charlene Jennett, Laure Kloetzer, Daniel Schneider, Ioanna Iacovides, Anna L. Cox, Margaret Gold, Brian Fuchs, Alexandra Eveleigh, Kathleen Mathieu, Zoya Ajani and Yasmin Talsi

Online citizen science projects have demonstrated their usefulness for research, however little is known about the potential benefits for volunteers. We conducted 39 interviews (28 volunteers, 11 researchers) to gain a greater understanding of volunteers' motivations, learning and creativity (MLC). In our MLC model we explain that participating and progressing in a project community provides volunteers with many indirect opportunities for learning and creativity. The more aspects that volunteers are involved in, the more likely they are to sustain their participation in the project. These results have implications for the design and management of online citizen science projects. It is important to provide users with tools to communicate in order to supporting social learning, community building and sharing.This article is licensed under the terms of the Creative Commons Attribution - NonCommercial - NoDerivativeWorks 4.0 License. The article attached is the publisher's pdf

Discrete-State Abstractions of Nonlinear Systems Using Multi-resolution Quantizer

Abstract. This paper proposes a design method for discrete abstrac-tions of nonlinear systems using multi-resolution quantizer, which is ca-pable of handling state dependent approximation precision requirements. To this aim, we extend the notion of quantizer embedding, which has been proposed by the authors ’ previous works as a transformation from continuous-state systems to discrete-state systems, to a multi-resolution setting. Then, we propose a computational method that analyzes how a locally generated quantization error is propagated through the state space. Based on this method, we present an algorithm that generates a multi-resolution quantizer with a specified error precision by finite refine-ments. Discrete abstractions produced by the proposed method exhibit non-uniform distribution of discrete states and inputs.

Creativity in Citizen Cyberscience

An interview study was conducted to explore volunteers’ experiences of creativity in citizen cyberscience. Participants were recruited from 4 projects: GeoTag-X, Virtual Atom Smasher, Synthetic Biology, and Extreme Citizen Science. Ninety-six interviews were conducted in total: 86 with volunteers (citizen scientists) and 10 with professional scientists. The resulting thematic analysis revealed that volunteers are involved in a range of creative activities, such as discussing ideas, suggesting improvements, gamification, artwork, creative writing, and outreach activities. We conclude that the majority of creative products are community-related. Creativity in citizen cyberscience is a collective process: volunteers create within a project and a community, both for themselves and for others

BioDiVinE: A Framework for Parallel Analysis of Biological Models

In this paper a novel tool BioDiVinEfor parallel analysis of biological models is presented. The tool allows analysis of biological models specified in terms of a set of chemical reactions. Chemical reactions are transformed into a system of multi-affine differential equations. BioDiVinE employs techniques for finite discrete abstraction of the continuous state space. At that level, parallel analysis algorithms based on model checking are provided. In the paper, the key tool features are described and their application is demonstrated by means of a case study

Reachability in Biochemical Dynamical Systems by Quantitative Discrete Approximation (extended abstract)

In this paper, a novel computational technique for finite discrete approximation of continuous dynamical systems suitable for a significant class of biochemical dynamical systems is introduced. The method is parameterized in order to affect the imposed level of approximation provided that with increasing parameter value the approximation converges to the original continuous system. By employing this approximation technique, we present algorithms solving the reachability problem for biochemical dynamical systems. The presented method and algorithms are evaluated on several exemplary biological models and on a real case study.Comment: In Proceedings CompMod 2011, arXiv:1109.104