The Perception System of External World for Robot

Abstract:

World Model is the robots view of the world and contains information for the robot to make decisions. World Modeling is the process that robots map the sensor data into the World Model. The complexity of the sensors increased, so does the data process components. In this paper, an architecture for world modeling is proposed. This architecture enhances the extensibility of the data process components by decoupling them with a middleware, and it improves the efficiency by computing in parallel. The combination of this architecture and the PDDL will also be presented.

• Periodical: Advanced Materials Research (Volume 748)
• Pages: 685-689
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.748.685
• Online since: August 2013
• Authors: Jian Rong Wang, Ya Long Yang, Jian Guo Wei, Mei Yu
• Keywords: Architecture, Middle-Ware, PDDL, World Model Data Processor, World Modeling

References

[1] R.A. Brooks, A robust layered control system for a Mobile Robot, IEEE J. of Robotics and Automation, (1986).

[2] James S. Albus, 4-D/RCS Reference Model Architecture for Unmanned Ground Vehicles, International Conference on Robotics and Automation - ICRA, vol. 4, pp.3260-3265, (2000).

DOI: 10.1109/robot.2000.845165

[3] Gilles Mourioux, Cyril Novales, Gérard Poisson, Control robot by a generic control architecture, International Conference on Intelligent Robots and Systems - IROS , pp.3050-3055, (2007).

DOI: 10.1109/iros.2007.4399515

[4] J. Elfring, M. J. G. van de Molengraft, R. J. M. Janssen, M. Steinbuch, Two level world modeling for cooperating robots using a multiple hypotheses filter, International Conference on Robotics and Automation - ICRA , pp.815-820, (2011).

DOI: 10.1109/icra.2011.5980219

[5] Pritsker, A.A. B, Introduction to stimulation and Slam II, John Wiley and Sons Inc., New York, NY, 2008 Feb 07.

[6] B. Korherr and B. List. A UML 2 Profile for Event Driven Process Chains. In Research and Practical Issues of Enterprise Information Systems, volume 205 of IFIP International Federation for Information Processing, pages 161–172. Springer, (2006).

DOI: 10.1007/0-387-34456-x_16

[7] M. Siegel, The sense-think-act paradigm revisited, International Workshop on Robot Sensing - ROSE, (2003).

DOI: 10.1109/rose.2003.1218700

[8] P. Naur, B. Randell, eds, Software engineering: Report of a conference sponsored by the NATO Science Committee, p.14, Garmisch, Germany, 7–11 October 1968, Brussels, Scientific Affairs Division, NATO (1969), p.14.

[9] Tanenbaum, a. s. Modern Operating Systems. Prentice hall (2007).

[10] M. Ghallab, A. Howe, C. Knoblock, D. McDermott, A. Ram, M. Veloso, D. Weld, and D. Wilkins, PDDL: The Planning Domain Definition Language, technical report, Yale Center for Computational Vision and Control, (1998).

[11] Jörg Hoffmann, The Metric-FF Planning System: Translating Ignoring Delete Lists, to Numeric State Variables, Journal of Artificial Intelligence Research - JAIR, vol. 20, pp.291-341, 2003, doi: 10. 1613/jair. 1144.

DOI: 10.1613/jair.1144

[12] S. Edelkamp and M. Helmert. On the Implementation of MIPS. In AIPS Workshop on Model-Theoretic Approaches to Planning, (2000).

[13] J. Cheng, Connecting Components with Soft System Buses: A New Methodology for Design, Development, and Maintenance of Reconfigurable, Ubiquitous, and Persistent Reactive Systems. In Proc. of 19th International Conference on Advanced Information Networking and Applications, Vol. 1, pp.667-672, IEEE-CS, (2005).

DOI: 10.1109/aina.2005.139

[14] Q. Mahmoud, Ed., Middleware for Communications. New York: Wiley, (2004).