Tanszékünkön 2017. november 22-én (szerdán) 13 órától tart előadást Dr. Keith Clark, Emeritus Professor, Imperial College London, Rule Control of Goal Directed, Reactive, Communicating Robotic Agents címmel. A helyszín az  IL408 terem. Az előadás kivonata alább. Minden érdeklődőt szeretettel várunk.

------------------------------------------------------------------------------------------------------------------------------

Rule Control of Goal Directed, Reactive, Communicating Robotic Agents

Keith Clark, Emeritus Professor, Imperial College London, (joint work with Peter Robinson, UQ)

We describe a mid-level multi-threaded robotic agent architecture in which multiple tasks, sharing one or more external robotic resources, are executed robustly and concurrently without: starvation, interference or deadlock. 

The tasks are programmed in a rule based language TeleoR. Sequences of TeleoR rules of the form:guard ~> action comprise the bodies of parameterised procedures.  

Each guard is a query to the agent’s Belief Store (BS) using Knowledge Rules expressed in a flexibly typed logic and function rule language QuLog.   

The BS comprises:

• percept facts frequently atomically updated by the agent’s percept handling thread
• communicated facts atomically updated by the agent’s message handling thread
• remembered facts atomically inserted by the agent’s task threads

 Each action comprises either:

• one or more robotic resource actions, to be executed in parallel
• a call to a TeleoR procedure, including a recursive call

The action may be paired with a non-robotic action sequence to send messages to other agents and/or update the BS. 

 We introduce the use of TeleoR, and the multi-threaded agent architecture, with two robot control applications: 

• Two robotic arm control for multiple block tower building tasks.  With colleagues at UNSW Sydney this has been ported to a Baxter robot, see the short video: https://www.doc.ic.ac.uk/~klc/20160127-LABCOT-HIx4.mp4 
• Communicating  and co-operative multi-agent control of each of several track following robots moving through open doorways to a destination room, see: https://www.doc.ic.ac.uk/~klc/pathFollowers.mp4

• In the second application communication is as important as perception. 

------------------------------------------------------------------------------------------------------------------------------

További információ található az alábbi linkről letölthető cikkben: https://cs.bme.hu/~szeredi/ArmsChallenge.pdf