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BRACE: An assertion framework for debugging cyber-physical systems

Kevin Boos, Chien-Liang Fok, Christine Julien, Miryung Kim
2012 2012 34th International Conference on Software Engineering (ICSE)  
We discusses our experience implementing and using the framework with a mobile robot, and highlight key future research challenges.  ...  To address this, we propose BRACE, a framework that simplifies the process by enabling developers to correlate cyber (i.e., logical) and physical properties of the system via assertions.  ...  An Extensible Framework for Sensor Support.  ... 
doi:10.1109/icse.2012.6227084 dblp:conf/icse/BoosFJK12 fatcat:odd4aqvfwvdlbeqcqla643jq2y


2012 International journal on artificial intelligence tools  
We present the results of the system and investigate different scenarios in which we use the commonsense together with perceptual knowledge, for communication, reasoning and exchange of information.  ...  In settings where heterogenous robotic systems interact with humans, information from the environment must be systematically captured, organized and maintained in time.  ...  Also we thank Cycorp Inc. for offering their ResearchCyc platform used in this research. Finally we thank Sahar Asadi and Mathias Broxvall for their generous help with this research.  ... 
doi:10.1142/s0218213012500121 fatcat:e23fweofazfs3a6zgs4vampr34

Spatial Reasoning with Applications to Mobile Robotics [chapter]

Lech Polkowski, Pawel Osmialowski
2008 Motion Planning  
assuring the meaning "a part in degree at least r"). Spatial Reasoning with Applications to Mobile Robotics 437 Mobile Robots Motion Planning, New Challenges www.intechopen.comMobile  ...  A robot should follow this path by going from one area centroid to Spatial Reasoning with Applications to Mobile Robotics 449 another until the goal is reached.  ...  Spatial Reasoning with Applications to Mobile Robotics, Motion Planning, Xing-Jian Jing (Ed.), ISBN: 978-953-7619-01-5, InTech, Available from:  ... 
doi:10.5772/6002 fatcat:fbovrsysrzcxzkjcdlsaufybva

Knowledge Representation and Reasoning for Perceptual Anchoring

Jonas Melchert, Silvia Coradeschi, Amy Loutfi
2007 19th IEEE International Conference on Tools with Artificial Intelligence(ICTAI 2007)  
This is a first step towards a KRR-supported anchoring framework, that we will use for human-robot communication.  ...  We show a simulated scenario where the system communicates with a user to interactively resolve an ambiguous description using the knowledge base, and in particular spatial relations.  ...  The experimental test-bed for our system is a mobile robot platform that is part of an ambient intelligent environment, called the PEIS Ecology [17] .  ... 
doi:10.1109/ictai.2007.118 dblp:conf/ictai/MelchertCL07 fatcat:e3kzan3wlnhfrnjdrqvzwknzpa

Characterisation of Intelligent Autonomous Agents Inspired by Biological Theory in Cognitive Environment

J. Refonaa, A. Porselvi, S. L. Jany Shabu, B. V. Santhosh Krishna, Kazy Noor-E-Alam Siddiquee, M Praveen Kumar Reddy
2022 Mobile Information Systems  
The paper investigates an organically roused meaning of shrewd self-ruling specialists of humans. Insight is identified with whether the conduct of a framework adds to its self-upkeep.  ...  Knowledge is identified with whether the conduct of a framework adds to its self-upkeep.  ...  the spatial learning framework.  ... 
doi:10.1155/2022/4931194 fatcat:djxxmwhvxvc2fl2n7js2kppr7i

Integrating cognition, perception and action through mental simulation in robots

Nicholas L. Cassimatis, J. Gregory Trafton, Magdalena D. Bugajska, Alan C. Schultz
2004 Robotics and Autonomous Systems  
We describe an architecture that integrates disparate reasoning, planning, sensation and mobility algorithms by composing them from strategies for managing mental simulations.  ...  An implemented robot using this framework in object-tacking and human-robot interaction tasks demonstrates that knowledge representation and inference techniques enable more complex and flexible robot  ...  Acknowledgement Derek Brock helped to design the tasks we used in our human-robot interaction work. Jamie Lennon helped integrate Polyscheme and Polybot's vision and motion planning subsystems.  ... 
doi:10.1016/j.robot.2004.07.014 fatcat:lxczllvttrepzdqmrjxqn6en6q

Searching objects in large-scale indoor environments: A decision-theoretic approach

Lars Kunze, Michael Beetz, Manabu Saito, Haseru Azuma, Kei Okada, Masayuki Inaba
2012 2012 IEEE International Conference on Robotics and Automation  
Hence, the robot first has to search for the object in its environment before it can perform the task.  ...  Many of today's mobile robots are supposed to perform everyday manipulation tasks autonomously. However, in large-scale environments, a task-related object might be out of the robot's reach.  ...  Among other reasons, this is because humans make use of different strategies when looking for an object.  ... 
doi:10.1109/icra.2012.6224965 dblp:conf/icra/KunzeBSAOI12 fatcat:goluahpeuzaetigf72r6vuju2i

Bridge protection algorithms – A technique for fault-tolerance in sensor networks

Saad Ahmad Khan, Ladislau Bölöni, Damla Turgut
2015 Ad hoc networks  
Comparative analysis of system identification techniques for nonlinear modeling of the neuron-microelectrode junction",  ...  behavior, an operational model which would allow it to reason about the implications of its own and the humans' actions.  ...  Awards • Won student research scholarship for contract number W911NF-10-2-0016 at NetMOC Lab UCF in conjunction with US Army Research Labs (2011-14) • Won student travel scholarship at AAMAS 2014 Programming  ... 
doi:10.1016/j.adhoc.2014.08.016 fatcat:ddeuun7p5rhxtmma2c77wdymb4

Combining perception and knowledge processing for everyday manipulation

D Pangercic, M Tenorth, D Jain, M Beetz
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Internally, K-COPMAN is realized through a data structure framework together with a library of stateof-the-art perception mechanisms for mobile manipulation in human environments.  ...  K-COPMAN is fully integrated into an autonomous mobile manipulation robot and is realized within the open-source robot library ROS.  ...  Right) Robotic manipulator with logical control program.  ... 
doi:10.1109/iros.2010.5651006 dblp:conf/iros/PangercicTJB10 fatcat:btzdhydhtfdlhmfmostcj5uq5i

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

Tomislav Petković, David Puljiz, Ivan Marković, Björn Hein
2019 Robotics and Computer-Integrated Manufacturing  
With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority.  ...  In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses.  ...  The authors would like to thank Julian Schanowski of the Karlsruhe Institute of Technology for his help with the virtual reality experiments.  ... 
doi:10.1016/j.rcim.2018.11.004 fatcat:dg2bixzbovgsxfyi7bnokcozna

Multimodal cognitive interface for robot navigation

Mohammed Elmogy, Christopher Habel, Jianwei Zhang
2011 Cognitive Processing  
We have developed a robot navigation system that uses both spatial language and graphical representation to describe route-based navigation tasks for a mobile robot.  ...  An emerging approach to doing this is to create cognitive models of human reasoning and behavior selection.  ...  We present a spatial language to describe route-based navigation tasks for a mobile robot.  ... 
doi:10.1007/s10339-010-0386-4 pmid:21203798 fatcat:hyniqov53jhtxc7ezxaodkpl7a

What Sort of Computation Mediates Best between Perception and Action? [chapter]

Murray Shanahan
1999 Logical Foundations for Cognitive Agents  
Drawing on recent work in the area of Cognitive Robotics, the paper argues for the viability of an answer based on a rigorous, logical account of interleaved perception, planning and action.  ...  A fluent for spatial occupancy is employed, and for reasons set out in [Shanahan, 1995a] , spatial occupancy is minimised using circumscription.  ...  For example, consider a wheeled mobile robot equipped with bump sensors. Σ E captures the fact that, if the robot executes a move forward command, its location in 2 will start to vary continuously.  ... 
doi:10.1007/978-3-642-60211-5_22 fatcat:ef3vgwe26rcbvflghq5u46bqvq

Conceptual Framework for Knowledge-Based Decision Migration in Multi-Component Robots

Laxmisha Rai, Jiman Hong
2013 International Journal of Advanced Robotic Systems  
Moreover, a robot does not need an exclusive control system for each component. The implementation is a two-step process.  ...  This paper presents a conceptual framework for dynamically migrating the decisions of multicomponent robots within different physical subcomponents.  ...  In [12] , researchers presented an agentbased distributed architecture for programming and controlling teams of mobile robots.  ... 
doi:10.5772/56103 fatcat:qqyu5nxbs5dzvlkvlqjoof742y

Planning and Robotics (Dagstuhl Seminar 17031)

Malik Ghallab, Nick Hawes, Daniele Magazzeni, Brian C. Williams, Andrea Orlandini, Marc Herbstritt
2017 Dagstuhl Reports  
This report documents the program and the outcomes of Dagstuhl Seminar 17031 on "Planning and Robotics".  ...  control to high-level cognitive approaches for autonomous robots.  ...  We are aware of the existence of formal methods for programming robots that provide powerful tools for writing code with behavior guarantees.  ... 
doi:10.4230/dagrep.7.1.32 dblp:journals/dagstuhl-reports/GhallabHMWO17 fatcat:vqoj274bhbakvgovfljltfwqie

Composable continuous-space programs for robotic swarms

Jonathan Bachrach, Jacob Beal, James McLurkin
2010 Neural computing & applications (Print)  
The Proto spatial computing language, however, already provides this sort of aggregate behavior programming for non-mobile systems using an abstraction of the network as a continuous-space-filling device  ...  We extend this abstraction to mobile systems and show that Proto can be applied to multi-robot systems with an actuator that turns a vector field into device motion.  ...  The Proto language [7] already addresses these aggregate programming challenges for spatial computers composed of non-mobile devices, using the amorphous medium abstraction, which views the network as  ... 
doi:10.1007/s00521-010-0382-8 fatcat:vf2zzrfbtfhy3i6bquyc32dlya
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