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Register a new userAn ASP-Based Architecture for Autonomous UAVs in Dynamic Environments: Progress Report
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Added by
Marcello Balduccini
Publication date
2014
fields
Informatics Engineering
and research's language is
English
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Traditional AI reasoning techniques have been used successfully in many domains, including logistics, scheduling and game playing. This paper is part of a project aimed at investigating how such techniques can be extended to coordinate teams of unmanned aerial vehicles (UAVs) in dynamic environments. Specifically challenging are real-world environments where UAVs and other network-enabled devices must communicate to coordinate---and communication actions are neither reliable nor free. Such network-centric environments are common in military, public safety and commercial applications, yet most research (even multi-agent planning) usually takes communications among distributed agents as a given. We address this challenge by developing an agent architecture and reasoning algorithms based on Answer Set Programming (ASP). ASP has been chosen for this task because it enables high flexibility of representation, both of knowledge and of reasoning tasks. Although ASP has been used successfully in a number of applications, and ASP-based architectures have been studied for about a decade, to the best of our knowledge this is the first practical application of a complete ASP-based agent architecture. It is also the first practical application of ASP involving a combination of centralized reasoning, decentralized reasoning, execution monitoring, and reasoning about network communications. This work has been empirically validated using a distributed network-centric software evaluation testbed and the results provide guidance to designers in how to understand and control intelligent systems that operate in these environments.
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Traditional AI reasoning techniques have been used successfully in many domains, including logistics, scheduling and game playing. This paper is part of a project aimed at investigating how such techniques can be extended to coordinate teams of unmanned aerial vehicles (UAVs) in dynamic environments. Specifically challenging are real-world environments where UAVs and other network-enabled devices must communicate to coordinate -- and communication actions are neither reliable nor free. Such network-centric environments are common in military, public safety and commercial applications, yet most research (even multi-agent planning) usually takes communications among distributed agents as a given. We address this challenge by developing an agent architecture and reasoning algorithms based on Answer Set Programming (ASP). Although ASP has been used successfully in a number of applications, to the best of our knowledge this is the first practical application of a complete ASP-based agent architecture. It is also the first practical application of ASP involving a combination of centralized reasoning, decentralized reasoning, execution monitoring, and reasoning about network communications.
We describe an application of Answer Set Programming to the understanding of narratives about stereotypical activities, demonstrated via question answering. Substantial work in this direction was done by Erik Mueller, who modeled stereotypical activities as scripts. His systems were able to understand a good number of narratives, but could not process texts describing exceptional scenarios. We propose addressing this problem by using a theory of intentions developed by Blount, Gelfond, and Balduccini. We present a methodology in which we substitute scripts by activities (i.e., hierarchical plans associated with goals) and employ the concept of an intentional agent to reason about both normal and exceptional scenarios. We exemplify the application of this methodology by answering questions about a number of restaurant stories. This paper is under consideration for acceptance in TPLP.
Three years ago, we released the Omniglot dataset for one-shot learning, along with five challenge tasks and a computational model that addresses these tasks. The model was not meant to be the final word on Omniglot; we hoped that the community would build on our work and develop new approaches. In the time since, we have been pleased to see wide adoption of the dataset. There has been notable progress on one-shot classification, but researchers have adopted new splits and procedures that make the task easier. There has been less progress on the other four tasks. We conclude that recent approaches are still far from human-like concept learning on Omniglot, a challenge that requires performing many tasks with a single model.
We explore different ways of implementing temporal constraints expressed in an extension of Answer Set Programming (ASP) with language constructs from dynamic logic. Foremost, we investigate how automata can be used for enforcing such constraints. The idea is to transform a dynamic constraint into an automaton expressed in terms of a logic program that enforces the satisfaction of the original constraint. What makes this approach attractive is its independence of time stamps and the potential to detect unsatisfiability. On the one hand, we elaborate upon a transformation of dynamic formulas into alternating automata that relies on meta-programming in ASP. This is the first application of reification applied to theory expressions in gringo. On the other hand, we propose two transformations of dynamic formulas into monadic second-order formulas. These can then be used by off-the-shelf tools to construct the corresponding automata. We contrast both approaches empirically with the one of the temporal ASP solver telingo that directly maps dynamic constraints to logic programs. Since this preliminary study is restricted to dynamic formulas in integrity constraints, its implementations and (empirical) results readily apply to conventional linear dynamic logic, too.
Real-world autonomous vehicles often operate in a priori unknown environments. Since most of these systems are safety-critical, it is important to ensure they operate safely in the face of environment uncertainty, such as unseen obstacles. Current safety analysis tools enable autonomous systems to reason about safety given full information about the state of the environment a priori. However, these tools do not scale well to scenarios where the environment is being sensed in real time, such as during navigation tasks. In this work, we propose a novel, real-time safety analysis method based on Hamilton-Jacobi reachability that provides strong safety guarantees despite environment uncertainty. Our safety method is planner-agnostic and provides guarantees for a variety of mapping sensors. We demonstrate our approach in simulation and in hardware to provide safety guarantees around a state-of-the-art vision-based, learning-based planner.
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