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Experiments in Subsymbolic Action Planning with Mobile Robots
[chapter]
2005
Lecture Notes in Computer Science
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In this paper, we present experiments with two autonomous mobile robots, which use autonomously learned subsymbolic representations of perceptual and behavioural space to determine goal-achieving sequences ...
The ability to determine a sequence of actions in order to reach a particular goal is of utmost importance to mobile robots. ...
Action Selection versus Action Planning The bulk of research on subsymbolic planning to date has focused on simulated agents, rather than situated, embodied mobile robots. ...
doi:10.1007/978-3-540-32274-0_14
fatcat:saoywiut4fepjht4lrcndn335a
Deep Blue Cannot Play Checkers: The Need for Generalized Intelligence for Mobile Robots
2010
Journal of Robotics
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Generalized intelligence is much more difficult than originally anticipated when Artificial Intelligence (AI) was first introduced in the early 1960s. ...
Deep Blue, the chess playing supercomputer, was developed to defeat the top rated human chess player and successfully did so by defeating Gary Kasporov in 1997. ...
Intelligence would allow the robots to perceive their environment, plan their activities, solve problems, and learn from experience [4] . ...
doi:10.1155/2010/523757
fatcat:27syv3qao5dthnhl6lkp75c4di
Learning structured reactive navigation plans from executing MDP navigation policies
2001
Proceedings of the fifth international conference on Autonomous agents - AGENTS '01
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The resulting plans support action planning and opportunistic task execution. XFRMLEARN is implemented and extensively evaluated on an autonomous mobile robot. ...
Autonomous robots, such as robot office couriers, need navigation routines that support flexible task execution and effective action planning. ...
The research reported in this paper is partly funded by the Deutsche Forschungsgemeinschaft (DFG) under contract number BE 2200/3-1. ...
doi:10.1145/375735.375795
dblp:conf/agents/BeetzB01
fatcat:ovln7czxjvd7bbcuxfhdxmxrzy
Bridging the Symbolic/Subsymbolic Gap
[chapter]
2014
Atlantis Thinking Machines
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We discuss the potential use of this integrated system to control mobile robots, as exemplified via a thought-experiment involving eye-hand coordination. ...
This is a "tight" integration, in which the symbolic and subsymbolic aspects exert detailed real-time influence on each others' operations. ...
Current robots, in some cases, can carry out specialized actions with great accuracy, but they lack this sort of integration, and thus generally have difficulty effectively carrying out actions in unforeseen ...
doi:10.2991/978-94-6239-030-0_11
fatcat:2sdgwxkq5jc6djeznwez5rn3fi
Specializing Underdetermined Action Descriptions Through Plan Projection
[article]
2018
arXiv
pre-print
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Plan execution on real robots in realistic environments is underdetermined and often leads to failures. The choice of action parameterization is crucial for task success. ...
By thinking ahead of time with the fast plan projection mechanism proposed in this paper, a general plan can be specialized towards the environment and task at hand by choosing action parameterizations ...
In the domain of mobile manipulation, the choice of action parameterization is crucial for task success. There is a large number of parameters and most of them are subsymbolic. ...
arXiv:1812.08224v1
fatcat:qqaldyoirff3bokxbex4kftnqi
A Reinforcement Connectionist Approach to Robot Path Finding in Non-Maze-Like Environments
[chapter]
1992
Reinforcement Learning
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This paper presents a reinforcement connectionist system which finds and learns the suitable situationaction rules so as to generate feasible paths for a point robot in a 2D environment with circular obstacles ...
capabilities, (iv) copes with dynamic environments, and (v) solves an instance of the path finding problem with strong performance demands. ...
Carme Torras has been partially supported by the ESPRIT Basic Research Action number 3234. ...
doi:10.1007/978-1-4615-3618-5_8
fatcat:ow5dphym7nbqlnsvininp5suky
Unsupervised learning of object affordances for planning in a mobile manipulation platform
2011
2011 IEEE International Conference on Robotics and Automation
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Nehmzow, “Experiments in subsymbolic action
parameters. ...
In case, for simplicity we defined multiple actions planning with mobile robots,” in International Symposium on Robotics
(e.g. move−30◦ , move−30◦ ) for different instantiations of the and ...
doi:10.1109/icra.2011.5979677
dblp:conf/icra/UgurSO11
fatcat:czixr6v7lbf3dp6kpqhic5zcmy
Control of Mobile Robots Using the Soar Cognitive Architecture
2009
Journal of Aerospace Computing Information and Communication
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A multithreaded software system written using Java and integrated with the Soar cognitive architecture has been implemented on two types of mobile robots. ...
The CRS has been designed so that its capabilities can be expanded in the future through the inclusion of additional sensors and motors, additional software systems, and more sophisticated Soar agents. ...
Soar has been used with a mobile robot equipped with sonar sensors and a robotic gripper to locate and pick up cups [33] . ...
doi:10.2514/1.37056
fatcat:j4dw5f65qja7jahzspwranqzlq
A reinforcement connectionist approach to robot path finding in non-maze-like environments
1992
Machine Learning
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This paper presents a reinforcement connectionist system which finds and learns the suitable situationaction rules so as to generate feasible paths for a point robot in a 2D environment with circular obstacles ...
capabilities, (iv) copes with dynamic environments, and (v) solves an instance of the path finding problem with strong performance demands. ...
Carme Torras has been partially supported by the ESPRIT Basic Research Action number 3234. ...
doi:10.1007/bf00992702
fatcat:gono2whhvrfepl6tx22uulkcim
Robotic Action Control: On the Crossroads of Cognitive Psychology and Cognitive Robotics
[chapter]
2015
Cognitive Robotics
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In other words, action planning must be a temporally extended process in which abstract representations to some extent provide abstract goal descriptions, which must be integrated with lower-level subsymbolic ...
Everyday action planning A major obstacle in the way of robots performing everyday actions is the translation of high-level, symbolic task descriptions into sensorimotor action plans. ...
doi:10.1201/b19171-16
fatcat:mzhfxmdlpnbnbjabtzcsxj7hbu
Meeting Newell's other challenge: Cognitive architectures as the basis for cognitive engineering
2003
Behavioral and Brain Sciences
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These properties suit ART for large-scale technological applications, ranging from control of mobile robots, face recognition, remote sensing, medical diagnosis, and electrocardiogram analysis to tool ...
"Dealing with dynamic behavior requires a theory of perception and action as well as a theory of cognition" (sect. 2.5). ...
doi:10.1017/s0140525x03280134
fatcat:kq7g3sg2vzfqtkwwztqlfu7sua
Review of Consciousness and the Possibility of Conscious Robots
2010
Journal of Aerospace Computing Information and Communication
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This paper discusses the psychological, philosophical, and neurological definitions of consciousness and the prospects for the development of conscious machines or robots in the foreseeable future. ...
Given the complexity of cognition and consciousness a hybrid parallel architecture with significant input/output appears to offer the best solution for the implementation of a complex system of systems ...
In fact, if machines can be imbued with emotions, they may also experience feelings such as depression. ...
doi:10.2514/1.46188
fatcat:lildzd7tjjhbtng2pdv3gien6a
PlanSys2: A Planning System Framework for ROS2
[article]
2021
arXiv
pre-print
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Among its main features, it can be highlighted the optimized execution, based on Behavior Trees, of plans through a new actions auction protocol and its multi-robot planning capabilities. ...
PlanSys2 aims to be the reference task planning framework in ROS2, the latest version of the de facto standard in robotics software development. ...
As shown in Table II , the experiment lasted two hours, in which the robot carried out 32 plans, with no system Fig. 9 : Long-time experiment in the real robot [33] . failure and 9 re-plans. ...
arXiv:2107.00376v1
fatcat:fk4jipjdkvfgverxmxqhu3hpru
Sensorimotor transformations in the worlds of frogs and robots
1995
Artificial Intelligence
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The paper develops a multilevel approach to the design and analysis of systems with "action-oriented perception", situating various robot and animal "designs" in an evolutionary perspective. ...
, and path planning in frogs. ...
Detours and path planning In the present section, we show how a study of frog behavior led to a model of path planning that was then applied to the design of the control of mobile robots, and which anticipated ...
doi:10.1016/0004-3702(94)00055-6
fatcat:tnuagftutfg75hdoo3hxwjr7cu
Designing Grounded Agents: From RoboCup to the Real-World
[chapter]
2009
Lecture Notes in Computer Science
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This paper discusses the nature and role of "grounding" in designing programs for controlling autonomous mobile robots. ...
However, little (if any) of the knowledge of "how to ground" is embedded in the artificial agent. Consequently, brittle, purpose-built systems result. ...
grounding autonomous mobile robots. ...
doi:10.1007/978-3-642-02921-9_54
fatcat:mva3hal4pnfphn4lwh46uu42l4
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