Annual Report 2002 - Ãrebro universitet

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Annual Report 2002 43 Project: Generating and Executing Plans under Uncertainty Project leader: Lars Karlsson Project staff: Abdelbaki Bouguerra Funding: KK Foundation, Faculty funding, EU funding via the PLANET Network. Cooperation: PLANET, European Network of Excellence in AI Planning. Synopsis: An intelligent mobile robot both needs to react quickly to changing conditions and to formulate and implement plans to achieve its more long-term objectives. From the robot's perspective, there are a number of sources of uncertainty that complicate its planning and acting, including other agents and dynamical processes, incomplete a priori information, restricted and unreliable sensing capabilities, and the uncertainty inherent the robot's own actions. Fuzzy logic is an interesting tool for taking these sources of uncertainty into account, as well as for estimating the quality and success of plans. Within this context, we investigate issues such as how to represent and reason about actions, sensing, and complex plans, how to integrate deliberation and acting, and how to detect when a plan is not going well or when better opportunities arise. Main results in 2002: - A grant of about 1,8 MSEK has been awarded by Vetenskapsrådet to this project for the period 2003-2005. - Paper published in the edited volume "Plan-Based Control of Robotic Agents" (Springer, Germany, 2002). - Msc thesis by Tommaso Schiavinotto (visiting student at AASS in 2001) defended at the University of Pisa, Italy. Future developments: - Work will focus on the project objective defined in the application funded by Vetenskaprådet. - A new PhD student (Abdelbaki Bouguerra) has been enrolled and will work on this project. Project: Anchoring Symbols to Sensor Data Project leader: Silvia Coradeschi Project staff: Alessandro Saffiotti, Kevin LeBlanc Funding: KK Foundation, Faculty funding, Vetenskapsrådet Cooperation: University of Palermo, Italy Synopsis: Intelligent agents embedded in physical environments need the ability to connect, or anchor, the symbols used to perform abstract reasoning to the physical entities which these symbols refer to. Anchoring must deal with indexical and objective references, definite and indefinite identifiers, and temporary impossibility to percept physical entities. Furthermore it needs to
44 AASS – Center for Applied Autonomous Sensor Systems rely on sensor data which is inherently affected by uncertainty, and to deal with ambiguities. This research line is devoted to the definition and the in-depth study of the problem of anchoring, and of its use in autonomous agents. Main results in 2002: - Paper published in the edited volume "Plan-Based Control of Robotic Agents" (Springer, Germany, 2002). - A special issue of the Robotics and Autonomous Systems journal on "Anchoring Symbols to Sensor Data" had been edited by S. Coradeschi and Saffiotti. Expected publication date: May 2003. - Initiated a scientific cooperation with the University of Palermo, Italy, by a one week visit of A. Saffiotti to Palermo. Future developments: - Amy Loutfi will defend her licentiate thesis on perceptual anchoring of odour signals by the first half of 2003. - A new PhD student (Kevin LeBlanc) has been enrolled and will work on cooperative anchoring. Project: Robot Team Coordination Project leader: Alessandro Saffiotti Project staff: Robert Johansson, Kevin LeBlanc, Zbigniew Wasik Funding: CUGS, EU via the EURON Network, and KK Foundation. Cooperation: EURON, the European Research Network; Instituto Superior Tecnico (IST) of Lisboa, Portugal; University of Murcia, Spain; and Team Sweden (Örebro University, Blekinge Institute of Technology, Lund University). Synopsis: The coordination of the actions of a team of collaborating autonomous robot presents problems that are considerably more complex than those typically considered when planning and regulating the motion of a single robot. In this research line, we investigate the extension of the desirability function approach, which we use for the control of a single physical agent, to the case of a team of cooperating agents. Main results in 2002: - Participation of Team Sweden to RoboCup 2002 in Fukuoka, Japan, in June 2002. - Two papers published in the edited volume "RoboCup 2001: Robot Soccer World Cup V" (Springer, Germany, 2002). - One paper presented at the Int Conf on Pattern Recognition (ICPR) in Quebec City, Quebec, Canada, August 2002. - Initiated cooperation with the University of Murcia, Spain. - Organized a workshop on cooperative robotics at the Int Conf on Intelligent Robotic Systems (IROS) in Lausanne, Switzerland, October 2002. - Co-organized a European Summer School on Cooperative Robotics together with the Instituto Superior Tecnico (IST) of Lisboa, Portugal.
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