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RCS: a reference model architecture for intelligent control

J.S. Albus
1992 Computer  
for a nested intelligent control system.  ...  The RCS architecture consists of a hierarchically layered set of processing modules connected together by a network of communications pathways.  ...  The RCS control system included a realtime path planner for obstacle avoidance, and a realtime map builder for constructing a topological map of the bottom.  ... 
doi:10.1109/2.144396 fatcat:tamsokiy6nduro4rqge7seyzdq

Pedestrian Models for Autonomous Driving Part II: high level models of human behaviour [article]

Fanta Camara, Nicola Bellotto, Serhan Cosar, Florian Weber, Dimitris Nathanael, Matthias Althoff, Jingyuan Wu, Johannes Ruenz, André Dietrich, Gustav Markkula, Anna Schieben, Fabio Tango, Natasha Merat (+1 others)
2020 arXiv   pre-print
This narrative review article is Part II of a pair which together survey the current technology stack involved in this process, organising recent research into a hierarchical taxonomy ranging from low  ...  models of interactions between pedestrians and autonomous vehicles.  ...  Johora and Müller [111] proposed a three-layer trajectory prediction model composed of a trajectory planner, a force-based (social force) model and a game theoretic decision model.  ... 
arXiv:2003.11959v1 fatcat:acjjwohahvdlxgy56j45fjtkdq

Cognitive modeling

John Funge, Xiaoyuan Tu, Demetri Terzopoulos
1999 Proceedings of the 26th annual conference on Computer graphics and interactive techniques - SIGGRAPH '99  
Recent work in behavioral animation has taken impressive steps toward autonomous, self-animating characters for use in production animation and interactive games.  ...  We demonstrate cognitive modeling applications in advanced character animation and automated cinematography.  ...  Rex" API, Steven Shapiro and Hector Levesque for technical assistance on the situation calculus, and Jeffrey Tupper for technical assistance on interval arithmetic.  ... 
doi:10.1145/311535.311538 dblp:conf/siggraph/FungeTT99 fatcat:lbln7swz5jedtkpuj5hwcm73gq

Autonomic and Dependable Computing: Moving Towards a Model-Driven Approach

Yuan-Shun Dai, Tom Marshall, Xiaohong Guan
2006 Journal of Computer Science  
The rapidly increasing complexity of computing systems is driving the movement towards autonomic systems that are capable of managing themselves without the need for human intervention.  ...  Analyzing past research can lead to the design of a more advanced, dependable autonomic computing system.  ...  If not, the analysis is passed to a planner which contains a set of rules and action plans.  ... 
doi:10.3844/jcssp.2006.496.504 fatcat:mojkki3tebe45jmmct737vzuvm

Refining grasp affordance models by experience

Renaud Detry, Dirk Kraft, Anders Glent Buch, Norbert Kruger, Justus Piater
2010 2010 IEEE International Conference on Robotics and Automation  
We present a method for learning object grasp affordance models in 3D from experience, and demonstrate its applicability through extensive testing and evaluation on a realistic and largely autonomous platform  ...  We explore a batch-oriented, experience-based learning paradigm where grasps sampled randomly from a density are performed, and an importance-sampling algorithm learns a refined density from the outcomes  ...  These reconstructions also serve as a basis for a hierarchical object model introduced next. A.  ... 
doi:10.1109/robot.2010.5509126 dblp:conf/icra/DetryKBKP10 fatcat:qoaxn4p7wbav5iyfnr7mczmehm

Reliability and Safety of Autonomous Systems Based on Semantic Modelling for Self-Certification

Osama Zaki, Matthew Dunnigan, Valentin Robu, David Flynn
2021 Robotics  
A novel modelling paradigm for online diagnostics and prognostics for autonomous systems is presented. A model for the autonomous system being diagnosed is designed using a logic-based formalism.  ...  The model supports the run-time ability to verify that the autonomous system is safe and reliable for operation within a dynamic environment.  ...  Acknowledgments: The authors acknowledge the funding of the EPSRC Offshore Robotics for Certification of Assets hub (https://orcahub.org) [grant number EP/R026173/1].  ... 
doi:10.3390/robotics10010010 fatcat:4trc3q6yfrbh5gjuje7euuxuym

Modeling Adaptive Autonomous Agents

Pattie Maes
1993 Artificial Life  
Autonomous agents are systems that inhabit a dynamic, unpredictable environment in which they try to satisfy a set of time-dependent goals or motivations.  ...  Research in autonomous agents has brought about a new wave of excitement i n to the eld of AI. This paper re ects on the state of the art of this new approach.  ...  In his Enterprise system, each of the machines in the network is autonomous and in charge of its own work load. The system is based on the metaphor of a market.  ... 
doi:10.1162/artl.1993.1.1_2.135 fatcat:zod25hxgtredhbayd5cah23bum

Modeling Adaptive Autonomous Agents

Pattie Maes
1993 Artificial Life  
Autonomous agents are systems that inhabit a dynamic, unpredictable environment in which they try to satisfy a set of time-dependent goals or motivations.  ...  Research in autonomous agents has brought about a new wave of excitement i n to the eld of AI. This paper re ects on the state of the art of this new approach.  ...  In his Enterprise system, each of the machines in the network is autonomous and in charge of its own work load. The system is based on the metaphor of a market.  ... 
doi:10.1162/artl.1993.1.135 fatcat:tclolnnvzfglbboed5rnmvc7cm

Towards a Service-Oriented Component Model for Autonomic Management

Yoann Maurel, Philippe Lalanda, Ada Diaconescu
2011 2011 IEEE International Conference on Services Computing  
It allows the dynamic integration of autonomic tasks and their management based on contextual evolutions.  ...  The current framework prototype has been implemented as a specialized Service-Oriented Component Model.  ...  Additionally, Automate is based on a rule system that can evolve over time.  ... 
doi:10.1109/scc.2011.36 dblp:conf/IEEEscc/MaurelLD11 fatcat:dmhp7ryxejbynk2slxxecmjeaq

A Survey of Asymptotically Optimal Sampling-based Motion Planning Methods [article]

Jonathan D. Gammell, Marlin P. Strub
2020 arXiv   pre-print
Recent results have proven that some sampling-based planning methods probabilistically converge towards the optimal solution as computational effort approaches infinity.  ...  Motion planning is a fundamental problem in autonomous robotics. It requires finding a path to a specified goal that avoids obstacles and obeys a robot's limitations and constraints.  ...  A study on the finite-time near-optimality properties of sampling- based motion planners.  ... 
arXiv:2009.10484v1 fatcat:idhjoeu3snhljmmhvhodqd4cca

Planning and Robotics (Dagstuhl Seminar 17031)

Malik Ghallab, Nick Hawes, Daniele Magazzeni, Brian C. Williams, Andrea Orlandini, Marc Herbstritt
2017 Dagstuhl Reports  
control to high-level cognitive approaches for autonomous robots.  ...  The motivation for this seminar was to bring together researchers from the two communities and people from the Industry in order to foster a broader interest in the integration of planning and deliberation  ...  This talk provides an overview of how PDDL+ can be used to model robotics and autonomous systems; presents a new PDDL+ planner based on SMT and the ROSPlan framework for planning with ROS; highlights some  ... 
doi:10.4230/dagrep.7.1.32 dblp:journals/dagstuhl-reports/GhallabHMWO17 fatcat:vqoj274bhbakvgovfljltfwqie

Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems

Hang Ma, Wolfgang Honig, Liron Cohen, Tansel Uras, Hong Xu, T.K. Satish Kumar, Nora Ayanian, Sven Koenig
2017 IEEE Intelligent Systems  
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems.  ...  Their framework is based on the idea of using simple temporal networks to simultaneously reason about precedence/causal constraints required for task-level coordination and simple temporal constraints  ...  A. Automated Warehouse In the automated-warehouse use case, we model two robot teams.  ... 
doi:10.1109/mis.2017.4531217 fatcat:bkjtwgfmg5hqfm52sfaq6kjyba

MoSCoE: A Framework for Modeling Web Service Composition and Execution

J. Pathak, S. Basu, R. Lutz, V. Honavar
2006 22nd International Conference on Data Engineering Workshops (ICDEW'06)  
In this context, the proposed research introduces a new incremental approach to service composition, MoSCoE (Modeling Web Service Composition and Execution), based on the three steps of abstraction, composition  ...  In the event that such a composition is not realizable, MoSCoE guides the user through successive refinements of the specification towards a realizable goal service that meets the user requirements.  ...  A similar approach for composing semantic Web services using hierarchical task network planner, SHOP2, was proposed in [22] .  ... 
doi:10.1109/icdew.2006.96 dblp:conf/icde/PathakBLH06 fatcat:3b4otbp7lvhnre4nazpcjej2nm

Manufacturing Execution System Integration through the Standardization of a Common Service Model for Cyber-Physical Production Systems

Richárd Beregi, Gianfranco Pedone, Borbála Háy, József Váncza
2021 Applied Sciences  
Manufacturing Execution Systems (MESs) are abandoning their traditional role of legacy executing middle-ware for embracing the much wider vision of functional interoperability enablers among autonomous  ...  In this paper, we propose a basic methodology for universally modeling, digitalizing, and integrating services offered by a variety of isolated workcells into a single, standardized, and augmented production  ...  The outcome of [28] elaborates on the advantages of migrating legacy IT systems for manufacturing operations to a microservice architecture, as an important step towards platform-based ecosystems.  ... 
doi:10.3390/app11167581 fatcat:xk7dvwmfrve2djgfjmzoxqwx2y

Game Theoretic Modeling of Driver and Vehicle Interactions for Verification and Validation of Autonomous Vehicle Control Systems

Nan Li, Dave W. Oyler, Mengxuan Zhang, Yildiray Yildiz, Ilya Kolmanovsky, Anouck R. Girard
2018 IEEE Transactions on Control Systems Technology  
In this paper, we present a game theoretic traffic model that can be used to: 1) test and compare various autonomous vehicle decision and control systems and 2) calibrate the parameters of an existing  ...  One significant challenge is the time and effort required for the verification and validation of the decision and control algorithms employed in these vehicles to ensure a safe and comfortable driving  ...  One common approach to the design of control systems for autonomous vehicles is to utilize a hierarchical control structure (see Fig. 1) , wherein a higher level outer-loop controller generates reference  ... 
doi:10.1109/tcst.2017.2723574 fatcat:mmvdwifmnjgsdddv3wtfpqq52y
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