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21.
  • Broxvall, Mathias, et al. (författare)
  • Steps toward detecting and recovering from perceptual failures
  • 2004
  • Ingår i: Proceedings of the 8th international conference on intelligent autonomous systems. ; , s. 793-800
  • Konferensbidrag (refereegranskat)abstract
    • An important requirement for autonomous systems is the ability to detect and recover from exceptional situations such as failures in observations. In this paper we investigate how traditional AI planning techniques can be used to reason about observations and to recover from these situations. In this first step we concentrate on failures in perceptual anchoring. We illustrate our approach by showing experiments run on a mobile robot equipped with a color camera.
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22.
  • Broxvall, Mathias, et al. (författare)
  • The PEIS kernel : a middleware for ubiquitous robotics
  • 2007
  • Konferensbidrag (refereegranskat)abstract
    • The fields of autonomous robotics and ambient intelligence are converging toward the vision of smart robotic environments, or ubiquitous robotics, in which tasks are performed via the cooperation of many simple networked robotic devices. The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from these fields to provide a new solution to building intelligent robots in the service of people. To enable this vision, we need a common communication and cooperation model that allows dynamically assembled ad hoc networks of robotic devices, a flexible introspection and configuration model allowing automatic (re)configuration and that can be shared between robotic devices at different scales, ranging from standard mobile robots to tiny networked embedded devices. In this paper we discuss the development of a middleware suitable for ubiquitous robotics in general and P PEIS -Ecologies in specific. Our middleware is suitable for building truly ubiquitous robotics applications, in which devices of very different scales and capabilities can cooperate in a uniform way. We discuss the principles and implementation of our middleware, and also point to experimental results that show the viability of this concept.
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23.
  • Broxvall, Mathias, et al. (författare)
  • Towards a complete classification of tractability in point algebras for nonlinear time
  • 1999
  • Ingår i: Principles and Practice of Constraint Programming – CP’99. - Berlin : Springer. - 3540666265 ; , s. 129-143
  • Bokkapitel (refereegranskat)abstract
    • Efficient reasoning about temporal constraints over nonlinear time models is vital in numerous application areas, such as planning, distributed systems and cooperating agents. We identify all tractable subclasses of the point algebra for partially-ordered time and examine one large, nontrivial tractable subclass of the point algebra for branching time.
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24.
  • d. C. Silva-Lopez, Lia Susana, 1985-, et al. (författare)
  • Towards configuration planning with partially ordered preferences : representation and results
  • 2015
  • Ingår i: Künstliche Intelligenz. - : Springer Berlin/Heidelberg. - 0933-1875 .- 1610-1987. ; 9:2, s. 173-183
  • Tidskriftsartikel (refereegranskat)abstract
    • Configuration planning for a distributed robotic system is the problem of how to configure the system over time in order to achieve some causal and/or information goals. A configuration plan specifies what components (sensor, actuator and computational devices), should be active at different times and how they should exchange information. However, not all plans that solve a given problem need to be equally good, and for that purpose it may be important to take preferences into account. In this paper we present an algorithm for configuration planning that incorporates general partially ordered preferences. The planner supports multiple preference categories, and hence it solves a multiple-objective optimization problem: for a given problem, it finds all possible valid, non-dominated configuration plans. The planner has been able to successfully cope with partial ordering relations between quantitative preferences in practically acceptable times, as shown in the empirical results. Preferences here are represented as c-semirings, and are used for establishing dominance of a solution over another in order to obtain a set of configuration plans that will constitute the solution of a configuration planning problem with partially ordered preferences. The dominance operators tested in this paper are Pareto and Lorenz dominance. Our solver considers one guiding heuristic for obtaining the first solution, and then switches to a dominance based monotonically decreasing heuristic used for pruning dominated partial configuration plans. In our empirical results, we perform a statistical study in the space of problem instances and establish families of problems for which our approach is computationally feasible.
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25.
  • Dragone, Mauro, et al. (författare)
  • A Programming Framework for Multi-agent Coordination of Robotic Ecologies
  • 2013
  • Ingår i: Programming Multi-Agent Systems. - Berlin, Heidelberg : Springer Publishing Company. - 9783642387005 ; , s. 72-89
  • Konferensbidrag (refereegranskat)abstract
    • Building smart environments with Robotic ecologies, comprising of distributed sensors, actuators and mobile robot devices facilitates and extends the nature and form of smart environments that can be developed, and reduces the complexity and cost of such solutions. While the potentials of such an approach makes robotic ecologies increasingly popular, many fundamental research questions remain open. One such question is how to make a robotic ecology self-adaptive, so as to adapt to changing conditions and evolving requirements, and consequently reduce the amount of preparation and pre-programming required for their deployment in real world applications. This paper presents a framework for the specification and the programming of robotic ecologies. The framework extends an existing agent system and integrates it with the pre-existing and dominant traditional robotic and middleware approach to the development of robotic ecologies. We illustrate how these technologies complement each other and offer a candidate technology to pursue adaptive robotic ecologies.
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26.
  • Gritti, Marco, et al. (författare)
  • Reactive self-configuration of an ecology of robots
  • 2007
  • Konferensbidrag (refereegranskat)abstract
    • The field of ubiquitous robotics is burgeoning, and different brands of massively distributed heterogeneous robotic systems are being proposed and applied to several domains. The strong added value of these systems comes from their potential ability to dynamically self-configure, by changing the form of their cooperation to adapt to a given task or situation. In face of this, no satisfactory solution exists to the problem of how such a system should self-configure. In this paper, we explore a reactive approach to self-configuration inspired by ideas from the field of semantic web services. We illustrate our approach on a specific type of ubiquitous robot system, called PEIS-Ecology. We show experiments in which our approach autonomously generates a configuration to perform a cooperative navigation task, and dynamically changes this configuration when one of the components fails.
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27.
  • Junges, Robert, 1982- (författare)
  • A Learning-driven Approach for Behavior Modeling in Agent-based Simulation
  • 2017
  • Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
    • Agent-based simulation is a prominent application of the agent-based system metaphor. One of the main characteristics of this simulation paradigm is the generative nature of the outcome: the macro-level system behavior is generated from the micro-level agent behavior. Designing this agent behavior becomes challenging, as it is not clear how much each individual agent will contribute to the macro-level phenomenon in the simulation.Agent learning has proven to be successful for behavior configuration and calibration in many domains. It can also be used to mitigate the design challenge here. Agents learn their behaviors, adapted towards their micro and some macro level goals in the simulation. However, machine learning techniques that in principle could be used in this context usually constitute black-boxes, to which the modeler has no access to understand what was learned.This thesis proposes an engineering method for developing agent behavior using agent learning. The focus of learning hereby is not on improving performance, but in supporting a modeling endeavor: the results must be readable and explainable to and by the modeler. Instead of pre-equipping the agents with a behavior program, a model of the behavior is learned from scratch within a given environmental model.The following are the contributions of the research conducted: a) a study of the general applicability of machine learning as means to support agent behavior modeling: different techniques for learning and abstracting the behavior learned were reviewed; b) the formulation of a novel engineering method encapsulating the general approach for learning behavior models: MABLe (Modeling Agent Behavior by Learning); c) the construction of a general framework for applying the devised method inside an easy-accessible agent-based simulation tool; d) evaluating the proposed method and framework.This thesis contributes to advancing the state-of-the-art in agent-based simulation engineering: the individual agent behavior design is supported by a novel engineering method, which may be more adapted to the general way modelers proceed than others inspired by software engineering.
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28.
  • Karlsson, Lars, et al. (författare)
  • To secure an anchor : a recovery planning approach to ambiguity in perceptual anchoring
  • 2008
  • Ingår i: AI Communications. - Amsterdam : IOS Press. - 0921-7126 .- 1875-8452. ; 21:1, s. 1-14
  • Tidskriftsartikel (refereegranskat)abstract
    • An autonomous robot using symbolic reasoning, sensing and acting in a real environment needs the ability to create and maintain the connection between symbols representing objects in the world and the corresponding perceptual representations given by its sensors. This connection has been named perceptual anchoring. In complex environments, anchoring is not always easy to establish: the situation may often be ambiguous as to which percept actually corresponds to a given symbol. In this paper, we extend perceptual anchoring to deal robustly with ambiguous situations by providing general methods for detecting them and recovering from them. We consider different kinds of ambiguous situations. We also present methods to recover from these situations based onautomatically formulating them as conditional planning problems that then are solved by a planner. We illustrate our approach by showing experiments involving a mobile robot equipped with a color camera and an electronic nose.
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29.
  • Larsson, Johan, et al. (författare)
  • A navigation system for automated loaders in underground mines
  • 2006
  • Ingår i: Field and Service Robotics. - Berlin : Springer Berlin/Heidelberg. - 9783540334538 ; , s. 129-140
  • Konferensbidrag (refereegranskat)abstract
    • For underground mining operations human operated LHD vehicles are typically used for transporting ore. Because of security issues and of the cost of human operators, alternative solutions such as tele-operated vehicles are often in use. Tele-operation, however, leads to reduced efficiency, and it is not an ideal solution. Full automation of the LHD vehicles is a challenging task, which is expected to result in increased operational efficiency, cost efficiency, and safety. In this paper, we present our approach to a fully automated solution currently under development. We use a fuzzy behavior-based approach for navigation, and develop a cheap and robust localization technique based on the deployment of inexpensive passive radio frequency identification (RFID) tags at key points in the mine.
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30.
  • Larsson, Johan, et al. (författare)
  • An evaluation of local autonomy applied to teleoperated vehicles in underground mines
  • 2010
  • Ingår i: 2010 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781424450381 ; , s. 1745-1752
  • Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
    • Autonomous vehicles are being increasingly introduced in the mining industry. While these may offer high safety and high productivity, fully autonomous solutions are not always applicable or economically viable. Teleoperation is an attractive option, since it increases safety and comfort of the drivers. Unfortunately, the difficulty to operate the vehicle remotely often results in reduced productivity. In this paper, we show that techniques from the field of mobile robotics can be used to mitigate this problem. We extend a commercial teleoperation system for use in underground mines with a local autonomy functionality, with the main purpose to evaluate if the achieved productivity improvement motivates development of general algorithms and a fully commercial implementation. We then describe a user study performed in an underground mine with a 38 tonne articulated wheel loader, which proves that local autonomy gives a significant improvement in productivity of the teleoperation system, while retaining or even reducing the maintenance costs.
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