fheintz's knowledge_processing [14 articles]

Abstract

Abstract  Robot knowledge is considered to endow service robots with intelligence. In the real environments, robot knowledge needs to represent dynamically changing world. Despite its advantages for semantic knowledge of service robots, robot knowledge may be instantiated and updated by using imperfect sensing data, such as misidentification of object recognition. In case of using commercially available visual recognition system, incorrect knowledge instances are created and changed frequently due to object misidentification and/or recognition failures. In this work, a robust semantic knowledge handling ...

Abstract

The service-oriented paradigm promises a novel degree of interoperability between business processes, and is leading to a major shift in way distributed applications are designed and realized. While novel and more powerful services can be obtained, in such setting, by suitably orchestrating existing ones, manually developing such orchestrations is highly demanding, time-consuming and error-prone. Providing automated service composition tools is therefore essential to reduce the time to market of services, and ultimately to successfully enact the service-oriented approach. In this paper, ...

Abstract

One central property of cognitive systems is the ability to learn and to improve continually. We present a robot control language that combines programming and learning in order to make learning executable in the normal robot program. The language constructs of our learning language RoLL rely on the concept of hierarchical hybrid automata to enable a declarative, explicit specification of learning problems. Using the example of an autonomous household robot, we point out some instances where learning–and especially continued learning–makes the ...

Abstract

An ontology-based multi-layered robot knowledge framework (OMRKF) is proposed to implement robot intelligence to be useful in a robot environment. OMRKF consists of four classes of knowledge (KClass), axioms and two types of rules. Four KClasses including perception, model, activity and context class are organized in a hierarchy of three knowledge levels (KLevel) and three ontology layers (OLayer). The axioms specify the semantics of concepts and relational constraints between ontological elements in each OLayer. One type of rule is designed for ...

Abstract

Abstract  Mission scenarios beyond line of sight or with limited ground control station access require capabilities for autonomous safe navigation and necessitate a continuous extension of existing and potentially outdated information about obstacles. The presented approach is a novel synthesis of techniques for 3D environment perception and global path planning. A locally bounded sensor fusion approach is used to extract sparse obstacles for global incremental path planning in an anytime fashion. During the flight, a stereo camera checks the field of view along ...

Abstract

Abstract  This paper presents a net-centric communication, command, and control architecture for a heterogeneous unmanned aircraft system comprised of small and miniature unmanned aircraft. An integrated system was developed using a bottom-up design approach to reflect and enhance the interplay between networked communication and autonomous aircraft coordination. The advantages of the approach are demonstrated through a description of the unmanned system that resulted from using this design process. First, the hardware system is described, including both small and miniature unmanned aircraft along ...

Abstract

Description logics (DLs) are a family of state-of-the-art knowledge representation languages, and their expressive power has been carefully crafted to provide useful knowledge modeling primitives while allowing for practically effective decision procedures for the basic reasoning problems. Recent experience with DLs, however, has shown that their expressivity is often insufficient to accurately describe structured objects —objects whose parts are interconnected in arbitrary, rather than tree-like ways. DL knowledge bases describing structured objects are therefore usually underconstrained, which precludes the entailment ...

Abstract

This paper describes a world model that combines a variety of sensed inputs and a priori information and is used to generate on-road and off-road autonomous driving behaviors. The system is designed in accordance with the principles of the 4D/RCS architecture. The world model is hierarchical, with the resolution and scope at each level designed to minimize computational resource requirements and to support planning functions for that level of the control hierarchy. The sensory processing system that populates the world model ...

Abstract

We introduce POINTY, an interactive system for constructing world-model-based programs for robots. POINTY combines an interactive programming environment with the teaching-by-guiding methodology that has been successful in industrial robotics. Owing to its ability to control robots in real time, and to interact with the user, POINTY provides a friendly and powerful programming environment for robot applications. In the past few years, POINTY has been in use at Stanford to write, test, and debug various robot programs. ...

Abstract

The emergence of applications operating independently of direct human control is inevitable. Research on high-level models for this class of applications - e.g. on autonomous agents and distributed AI - has revealed the shortcomings of current architectures and middleware interaction paradigms. If we focus on complex real-time systems made of embedded components, that evidence is even more striking. Event models have shown to be quite promising in this arena, but they often lack one or several of the following key points: ...

Abstract

Cognitive intelligent computing technologies are a new generation of computing that can support real-time network applications in diverse markets. Low cost, high volume sensor nodes are realizable due to a high level of chip integration (i.e. system-on-a-chip). These sensor nodes can operate more efficiently in a distributed environment using cognitive reasoning for making collaborative decisions, improving the quality of information and realtime sensing control. Fabric computing (FC) provides the flexible connectivity of these sensor nodes that can adapt in real time ...

Abstract

Research into the retrieval and dissemination of mission-specific information across sensor networks is leading to the development of many novel new algorithms and the definition of new paradigms for configuring and enforcing communication flow policies amongst the various components. Testing the relative merits of such algorithms and policies, and exploring interoperability issues between them, is difficult unless they share a common test and validation framework. The wide variety of algorithms being developed (including ontological, mission scripting, resource allocation, network routing, data ...

Abstract

The objective of knowledge processing system is to promote knowledge integration, sharing and retrieval in distributed and heterogeneous environment. This paper puts forward an ontology-based model-OBKPM for knowledge processing, which promises better access to relevant knowledge by producing a global domain ontology that is used for establishing semantic connections among the local ontologies of autonomous knowledge sources as well as for retrieving those sources. In OBKPM, a bottom-up integration approach with two-stage mapping process is proposed to solve both the semantic ...