7547345
Path Planning Through Time and Space in Dynamic Domains
Realistic robot problems involve navigating the robot through time as well as space. The obstacles that a robot must avoid and the pathways on which it travels are subject to changes throughout time. These changes can occur in a predictable or unpredictable fashion. This paper presents an integrated route planning and spatial representation system that allows paths to be calculated in dynamic domains. The path planner finds the "best route" through a given n-dimensional space. The "best route" is defined as the path through space-time with the best score as determined by a set of user-defined evaluation functions. The algorithm takes into account the following: Capabilities of the robot executing generated plans, traversability of space, and interactions with both predictable and unpredictable dynamic objects. The route planning algorithm is highly parallel and can be run on an SIMD (Single Instruction Multiple Data) machine in 0(p) time, where p is the length of a path. In domains with unpredictable processes, this system may be run in an incremental fashion, allowing the robot to create real-time routes along the optimal path as described by its current information. This paper will discuss: Spatial representation, an SIMD algorithm for route planning in a dynamic domain, and results from an implementation on a traditional computer architecture.
42391520
Are You Being Served?
There has been a lot of talk about service robots over the past decade, and indeed some service robots are starting to make their way into the real world; delivering food in hospitals, turning book pages for people with physical diabilities, and the like. Unfortunately, while functional, these robots perform their jobs with all the panache of machines. When people want service robots they really want “servant robots” but without the social guilt that now often accompanies the hiring of actual human servants. To do servants correctly, it is necessary to have a hierarchy in the ‘help’. Only the Dark Knight has been able to maintain style and social standing with a single servant The AAAI-97 Conference Reception is the AI community’s social event of the season. Here, as with almost all AI activities, style and social standing are everything. AI researchers work hard, and when they party, they want to be pampered. Procuring one’s own food is gauche; the AI community wants to be served. Towards this end, KIPR is creating a pair of servant robots (Capt. Peacock and Mr. Humphries) to serve and cater to their charges every gastromical need, while maintaining that old-world flavor that lets you know that while your servants may be smarter, stronger and more expensive than you, they are definitely your social inferiors.
18083854
Attitude and Position Control Using Real-Time Color Tracking
A variety of sensors and positioning methods have been developed over the years. Most methods rely on active sensors (such as sonars or lasers) which have range and power restrictions, or rely on computationally complex (and often slow) methods such as recovering position from stereo or optical flow. This paper describes a system that can determine a robot's position and orientation, in all six degrees of freedom, relative to a simple passive target. The system can determine its position relative to the target from a single image frame, and process the image and calculate the position faster than a camera's frame rate (60Hz). It uses a standard, uncalibrated color video camera as its sensor. The system runs on an inexpensive microprocessor (a Motorola 68332) leaving many cycles left over. By careful design of the target and the vision processing hardware and software, we are able to selectively perceive only the relevant parts of the target, greatly simplifying and speeding all the necessary computations. The system is being developed for autonomous spacecraft station keeping and docking.
303726
Simplified navigation and traverse planning for a long-range planetary rover
This paper presents the sensor and control system for SR2, a planetary rover prototype capable of km+/day traverses through Mars-like terrain. The control system described allowed the rover to successfully navigate Mars-like terrain given a set of way-points spaced approximately 100 m apart. The control system uses input from a variety of sensors including heading, roll, pitch, an array of proximity sensors, voltage and current sensors, and a depth from stereo camera system. The control system is adequate, when combined with the rover's mobility system to make its way over or around almost all hazards a rover is likely to encounter, and to know when it is getting diverted so far off course that it needs to ask for help. In a recent field test, the robot autonomously navigated through 1.3 km of Mars like terrain to reach its goal. The SR2 is a solar powered, four-wheeled rover that masses 21 kg and fits inside a 90/spl times/65/spl times/40 cm envelope.
39419808
A Twelve-Step Program to More Efficient Robotics
Sensor abuse is a serious and debilitating condition. However, one must remember that it is a disease, not a crime.1 As such, it can be treated. This article presents a case study in sensor abuse. This particular subject was lucky enough to pull himself out of his pitiful condition, but others are not so lucky. The article also describes a 12- step behavior-modification program modeled on this and other successful case studies.
206447917
Creating Autonomous Roboticists
KISS Institute's Botball program is a national program, designed for middle and high school students, that uses the activities of robot building and programming to engage students in science, technology, engineering and mathematics. Botball puts robotics equipment into schools, then trains students and teachers in that equipment's use. The program is organized into spring regional tournaments and a national Botball tournament held at the Annual National Conference on Artificial Intelligence. This program is playing an important role in creating and inspiring the next generation of AI and robotics technologists, many of whom might very well be the engineers and computer scientists who design and build sophisticated, highly autonomous rovers and other space platforms for future NASA missions of exploration. The inspiration cuts both ways.
711002
Counting Distinct Strings
Abstract. This paper discusses how to count and generate strings that are ``distinct'' in two senses: p -distinct and b -distinct. Two strings x on alphabet A and x' on alphabet A' are said to be p -distinct iff they represent distinct ``patterns''; that is, iff there exists no one—one mapping from A to A' that transforms x into x' . Thus aab and baa are p -distinct while aab and ddc are p -equivalent. On the other hand, x and x' are said to be b -distinct iff they give rise to distinct border (failure function) arrays: thus aab with border array 010 is b -distinct from aba with border array 001 . The number of p -distinct (resp. b -distinct) strings of length n formed using exactly k different letters is the [k,n] entry in an infinite p' (resp. b' ) array. Column sums p[n] and b[n] in these arrays give the number of distinct strings of length n . We present algorithms to compute, in constant time per string, all p -distinct (resp. b -distinct) strings of length n formed using exactly k letters, and we also show how to compute all elements p'[k,n] and b'[k,n] . These ideas and results have application to the efficient generation of appropriate test data sets for many string algorithms.
35435747
The Sombrero Single Address Space Operating System Prototype A Testbed for Evaluating Distributed Persistent System Concepts and Implementation
The Sombrero distributed single address space operating system prototype is currently being implemented. The prototype includes an emulation of CPU-resident protection hardware necessary to fully utilize the properties of a single address space. The primary objective of the Sombrero project is to demonstrate that software development costs are sharply reduced in a single address space environment with no reduction in performance. This paper presents Sombrero design decisions and implementation mechanisms developed in order to support protection, communication, resource access and control transfer across a very large persistent distributed address space. Included are changes to operating system architecture, evolution of programming types and a new approach to distributed consistency management in a single address space based-DSM system that is being integrated into the prototype.
21145709
A Hybrid Genetic Algorithm for the Single Machine Scheduling Problem
A hybrid genetic algorithm (HGA) is proposed for the single machine, single stage, scheduling problem in a sequence dependent setup time environment within a fixed planning horizon (SSSDP). It incorporates the elitist ranking method, genetic operators, and a hill-climbing technique in each searching area. To improve the performance and efficiency, hill climbing is performed by uniting the Wagner-Whitin Algorithm with the problem-specific knowledge. The objective of the HGA is to minimize the sum of setup cost, inventory cost, and backlog cost. The HGA is able to obtain a superior solution, if it is not optimal, in a reasonable time. The computational results of this algorithm on real life SSSDP problems are promising. In our test cases, the HGA performed up to 50% better than the Just-In-Time heuristics and 30% better than the complete batching heuristics.
22360460
Entropy-constrained tree-structured vector quantizer design
Current methods for the design of pruned or unbalanced tree-structured vector quantizers such as the generalized Breiman-Friedman-Olshen-Stone (GBFOS) algorithm proposed in 1980 are effective, but suffer from several shortcomings. We identify and clarify issues of suboptimality including greedy growing, the suboptimal encoding rule, and the need for time sharing between quantizers to achieve arbitrary rates. We then present the leaf-optimal tree design (LOTD) method which, with a modest increase in design complexity, alters and reoptimizes tree structures obtained from conventional procedures. There are two main advantages over existing methods. First, the optimal entropy-constrained nearest-neighbor rule is used for encoding at the leaves; second, explicit quantizer solutions are obtained at all rates without recourse to time sharing. We show that performance improvement is theoretically guaranteed. Simulation results for image coding demonstrate that close to 1 dB reduction of distortion for a given rate can be achieved by this technique relative to the GBFOS method.
3255666
Logic Programming in a Fragment of Intuitionistic Linear Logic
The intuitionistic notion of context is refined by using a fragment of J.-Y. Girard's (Theor. Comput. Sci., vol.50, p.1-102, 1987) linear logic that includes additive and multiplicative conjunction, linear implication, universal quantification, the of course exponential, and the constants for the empty context and for the erasing contexts. It is shown that the logic has a goal-directed interpretation. It is also shown that the nondeterminism that results from the need to split contexts in order to prove a multiplicative conjunction can be handled by viewing proof search as a process that takes a context, consumes part of it, and returns the rest (to be consumed elsewhere). Examples taken from theorem proving, natural language parsing, and database programming are presented: each example requires a linear, rather than intuitionistic, notion of context to be modeled adequately. >