69 research outputs found
Decision-Theoretic Planning with Person Trajectory Prediction for Social Navigation
Robots navigating in a social way should reason about people intentions
when acting. For instance, in applications like robot guidance or meeting with a
person, the robot has to consider the goals of the people. Intentions are inherently nonobservable,
and thus we propose Partially Observable Markov Decision Processes
(POMDPs) as a decision-making tool for these applications. One of the issues with
POMDPs is that the prediction models are usually handcrafted. In this paper, we use
machine learning techniques to build prediction models from observations. A novel
technique is employed to discover points of interest (goals) in the environment, and a
variant of Growing Hidden Markov Models (GHMMs) is used to learn the transition
probabilities of the POMDP. The approach is applied to an autonomous telepresence
robot
Generation of rapidly-exploring random trees by using a new class of membrane systems
Methods based on Rapidly-exploring Random Trees (RRTs)
have been in use in robotics to solve motion planning problems for nearly
two decades. On the other hand, models based on Enzymatic Numerical
P systems (ENPS) have been applied to robot controllers for more than
six years. These controllers in real robots handle the power of motors ac-
cording to motion commands usually generated by planning algorithms,
but today there is a lack of planning algorithms based on membrane sys-
tems for robotics. With this motivation, we provide in this paper a new
variant of ENPS called Random Enzymatic Numerical P systems with
Proteins and Shared Memory (RENPSM) oriented to RRTs for planning
in robotics and we illustrate it by presenting a model for generation of
RRTs with holonomic limitations. We are working on the ENPS frame-
work with the idea of moving towards a complete mobile robot system
based on membrane systems, i.e. including controllers and planning; and
we have incorporated new ingredients into the ENPS framework to meet
the requirements of the RRT generation algorithm
Simulation of Rapidly-Exploring Random Trees in Membrane Computing with P-Lingua and Automatic Programming
Methods based on Rapidly-exploring Random Trees (RRTs) have been
widely used in robotics to solve motion planning problems. On the other hand, in the
membrane computing framework, models based on Enzymatic Numerical P systems
(ENPS) have been applied to robot controllers, but today there is a lack of planning
algorithms based on membrane computing for robotics. With this motivation, we
provide a variant of ENPS called Random Enzymatic Numerical P systems with
Proteins and Shared Memory (RENPSM) addressed to implement RRT algorithms
and we illustrate it by simulating the bidirectional RRT algorithm. This paper is an
extension of [21]a. The software presented in [21] was an ad-hoc simulator, i.e, a tool
for simulating computations of one and only one model that has been hard-coded.
The main contribution of this paper with respect to [21] is the introduction of a novel
solution for membrane computing simulators based on automatic programming. First,
we have extended the P-Lingua syntax –a language to define membrane computing
models– to write RENPSM models. Second, we have implemented a new parser based
on Flex and Bison to read RENPSM models and produce source code in C language
for multicore processors with OpenMP. Finally, additional experiments are presented.Ministerio de Economía, Industria y Competitividad TIN2017-89842-
A Formal Framework for P Systems with Dynamic Structure
This article introduces a formalism/framework able to describe different
variants of P systems having a dynamic structure. This framework can be useful for
the definition of new variants of P systems with dynamic structure, for the comparison
of existing definitions as well as for their extension. We give a precise definition of the
formalism and show how existing variants of P systems with dynamic structure can be
translated to it
P-Lingua: A Programming Language for Membrane Computing
Software development for cellular computing has already been addressed,
yielding a first generation of applications. In this paper, we develop a new programming
language: P-Lingua. Furthermore, we present a simulator for the class of recognizing P
systems with active membranes. We illustrate it by giving a solution to the SAT problem
as an example.Ministerio de Educación y Ciencia TIN2006-13425Junta de Andalucía TIC-58
Simulating Tritrophic Interactions by Means of P Systems
P systems provide a high level computational modelling framework that combines the structural and dynamical aspects of ecosystems in a compressive and relevant way. The inherent randomness and uncertainty in biological systems is captured by using probabilistic strategies. The design of efficient simulation algorithms in order to reproduce the behavior of these computational models over conventional computers is fundamental for the validation and virtual experimentation processes. In this paper, we describe the modelling framework and two different simulation algorithms. As a case study, a P system based model of an ideal ecosystem with three trophic levels is designed and simulated by both simulation algorithms, providing comparisons of efficiency between them
Formal Verification of P Systems with Active Membranes through Model Checking
Formal verification of P systems using model checking has
attracted a significant amount of research in recent years. However, up
to now only P systems with static structure have been considered. This
paper makes significant advances in this area by considering P systems
with active membranes, in particular P systems with division rules. The
paper presents a theoretical framework for addressing this problem and
reports on a complex case study involving a well-known NP-complete
problem solved using P systems with membrane division rules. This is
implemented in Promela and non trivial properties are verified using
Spin.Ministerio de Ciencia e Innovación TIN2009–13192Junta de Andalucía P08-TIC-0420
Comparing simulation algorithms for multienvironment probabilistic P systems over a standard virtual ecosystem
Membrane Computing has recently proved to
be a suitable framework for addressing the modelling of
dynamical biological systems in general, and ecosystems in
particular. Due to the inherent randomness and uncertainty
in biological systems, when designing a model the relevant
tasks to be addressed are the validation and virtual experimentation
processes, rather than the formal verification. It
is therefore crucial to rely on software implementations of
efficient simulation algorithms. This paper presents a
simple (but realistic enough) ecosystem where a carnivore
and several herbivorous species interact. The model of this
ecosystem has been used to compare experimentally the
performance of two different simulation algorithms.Ministerio de Ciencia e Innovación TIN2009–13192Junta de Andalucía P08-TIC-0420
P-Lingua 2.0: New Features and First Applications
P-Lingua is a programming language for membrane computing. It was rst
presented in Edinburgh, during the Ninth Workshop on Membrane Computing (WMC9).
In this paper, the models, simulators and formats included in P-Lingua in version 2.0 are
explained. We focus on the stochastic model, associated simulators and updated features.
Finally, we present two new applications based on P-Lingua 2.0: a tool for describing and
simulating ecosystems and a framework (currently under development) for P systems
design.Ministerio de Educación y Ciencia TIN2006–13425Junta de Andalucía P08-TIC-0420
A syntax for semantics in P-Lingua
P-Lingua is a software framework for Membrane Computing, it includes a
programming language, also called P-Lingua, for writting P system de nitions using a
syntax close to standard scienti c notation. The rst line of a P-Lingua le is an unique
identi er de ning the variant or model of P system to be used, i.e, the semantics of the
P system. Software tools based on P-Lingua use this identi er to select a simulation
algorithm implementing the corresponding derivation mode. Derivation modes de ne
how to obtain a con guration Ct+1 from a con guration Ct. This information is usually
hard-coded in the simulation algorithm.
The P system model also de nes what types or rules can be used, the P-Lingua
compiler uses the identi er to select an speci c parser for the le. In this case, a set of
parsers is codi ed within the compiler tool. One for each unique identi er.
P-Lingua has grown during the last 12 years, including more and more P system
models. From a software engineering point of view, this approximation implies a continous
development of the framework, leading to a monolithic software which is hard to debug
and maintain.
In this paper, we propose a new software approximation for the framework, including
a new syntax for de ning rule patterns and derivation modes. The P-Lingua users can
now de ne custom P system models instead of hard-coding them in the software. This
approximation leads to a more
exible solution which is easier to maintain and debug.
Moreover, users could de ne and play with new/experimental P system models
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