| 1. |
- Broxvall, Mathias, et al.
(författare)
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Have another look on failures and recovery planning in perceptual anchoring
- 2004
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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 demonstrate how techniques for planning with sensing under uncertainty can play a major role in solving the problem of recovering from such situations. In this first step we concentrate on failures in perceptual anchoring, that is how to connect a symbol representing an object to the percepts of that object. We provide a classification of failures and present planning-based methods for recovering from them. We illustrate our approach by showing tests run on a mobile robot equipped with a color camera.
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| 2. |
- Chella, Antonio, et al.
(författare)
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Perceptual anchoring via conceptual spaces
- 2004
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Konferensbidrag (refereegranskat)abstract
- Perceptual anchoring is the problem of creating and maintaining in time the connection between symbols and sensor data that refer to the same physical objects. This is one of the facets of the general problem of integrating symbolic and non-symbolic processes in an intelligent system. Gärdenfors' conceptual spaces provide a geometric treatment of knowledge which bridges the gap between the symbolic and sub-symbolic approaches. As such, they can be used for the study of the anchoring problem. In this paper, we propose a computational framework for anchoring based on conceptual spaces. Our framework exploits the geometric structure of conceptual spaces for many of the crucial tasks of anchoring, like matching percepts to symbolic descriptions or tracking the evolution of objects over time.
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| 3. |
- Coradeschi, Silvia, et al.
(författare)
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An introduction to the anchoring problem
- 2003
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Ingår i: Robotics and Autonomous Systems. - 0921-8890 .- 1872-793X. ; 43:2-3, s. 85-96
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Tidskriftsartikel (refereegranskat)abstract
- Anchoring is the problem of connecting, inside an artificial system, symbols and sensor data that refer to the same physical objects in the external world. This problem needs to be solved in any robotic system that incorporates a symbolic component. However, it is only recently that the anchoring problem has started to be addressed as a problem per se, and a few general solutions have begun to appear in the literature. This paper introduces the special issue on perceptual anchoring of the Robotics and Autonomous Systems journal. Our goal is to provide a general overview of the anchoring problem, and to highlight some of its subtle points
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| 4. |
- Coradeschi, Silvia, et al.
(författare)
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Anchoring symbols to sensor data : preliminary report
- 2000
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Ingår i: Proceedings of the 17th AAAI conference. - 0262511126 ; , s. 129-135
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Konferensbidrag (refereegranskat)abstract
- Anchoring is the process of creating and maintaining the correspondence between symbols and percepts that refer to the same physical objects. Although this process must necessarily be present in any physically embedded system that includes a symbolic component (e.g., an autonomous robot), no systematic study of anchoring as a problem per se has been reported in the literature on intelligent systems. In this paper, we propose a domain-independent definition of the anchoring problem, and identify its three basic functionalities: find, reacquire, and track. We illustrate our definition on two systems operating in two different domains: an unmanned airborne vehicle for traffic surveillance; and a mobile robot for office navigation.
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| 5. |
- Coradeschi, Silvia, et al.
(författare)
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Fuzzy anchoring
- 2001
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Ingår i: The 10th IEEE international conference on fuzzy systems. - 078037293X ; , s. 111-114
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Konferensbidrag (refereegranskat)abstract
- An intelligent physical agent must incorporate motor and perceptual processes to interface with the physical world, and abstract cognitive processes to reason about the world and the options available. One crucial aspect of incorporating cognitive processes into a physically embedded reasoning system is the integration between the symbols used by the reasoning processes to denote physical objects, and the perceptual data corresponding to these objects. We treat this integration aspect by proposing a fuzzy computational theory of anchoring. Anchoring is the process of creating and maintaining the correspondence between symbols and percepts that refer to the same physical objects. Modeling this process using fuzzy set-theoretic notions enables dealing with perceptual data that can be affected by uncertainty/imprecision and imprecise/vague linguistic descriptions of objects
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| 6. |
- Coradeschi, Silvia, et al.
(författare)
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Perceptual anchoring : a key concept for plan execution in embedded systems
- 2002
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Ingår i: Advances in Plan-Based Control of Robotic Agents. - Berlin, Heidelberg : Springer Berlin Heidelberg. - 3540001689 ; , s. 97-126
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Konferensbidrag (refereegranskat)abstract
- Anchoring is the process of creating and maintaining the correspondence between symbols and percepts that refer to the same physical objects. This process must necessarily be present in any physically embedded system that includes a symbolic component, for instance, in an autonomous robot that uses a planner to generate strategic decisions. However, no systematic study of anchoring as a problem per se has been reported in the literature on intelligent systems. In this paper, we advocate for the need for a domain-independent framework to deal with the anchoring problem, and we report some initial steps in this direction. We illustrate our arguments and framework by showing experiments performed on a real mobile robot
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| 7. |
- Coradeschi, Silvia, et al.
(författare)
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Perceptual anchoring of symbols for action
- 2001
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Ingår i: Proceedings of the 17th IJCAI. ; , s. 407-412
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Konferensbidrag (refereegranskat)abstract
- Anchoring is the process of creating and maintaining the correspondence between symbols and percepts that refer to the same physical objects. Although this process must necessarily be present in any symbolic reasoning system embedded in a physical environment (e.g., an autonomous robot), the systematic study of anchoring as a clearly separated problem is just in its initial phase. In this paper we focus on the use of symbols in actions and plans and the consequences this has for anchoring. In particular we introduce action properties and partial matching of objects descriptions. We also consider the use of indefinite references in the context of action. The use of our formalism is exemplified in a mobile robotic domain
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| 8. |
- Coradeschi, Silvia, et al.
(författare)
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Perceptual anchoring with indefinite descriptions
- 2003
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Konferensbidrag (refereegranskat)abstract
- Anchoring is the problem of how to connect, inside an artificial system, the symbol-level and signal-level representations of the same physical object. In most previous work on anchoring, symbol-level representations were meant to denote one specific object, like 'the red pen p22'. These are also called definite descriptions. In this paper, we study anchoring in the case of indefinite descriptions, like `a red pen x'. A key point of our study is that anchoring with an indefinite description involves, in general, the selection of one object among several perceived objects that satisfy that description. We analyze several strategies to perform object selection, and compare them with the problem of action selection in autonomous embedded agents.
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| 9. |
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| 10. |
- Loutfi, Amy, et al.
(författare)
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Odor source identification by grounding linguistic descriptions in an artificial nose
- 2001
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Ingår i: Proceedings of the the sensor fusion conference. - : SPIE. ; , s. 273-281
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- This paper addresses the problem of enabling autonomous agents (e.g., robots) to carry out human oriented tasks using an electronic nose. The nose consists of a combination of passive gas sensors with different selectivity, the outputs of which are fused together with an artificial neural network in order to recognize various human-determined odors. The basic idea is to ground human-provided linguistic descriptions of these odors in the actual sensory perceptions of the nose through a process of supervised learning. Analogous to the human nose, the paper explains a method by which an electronic nose can be used for substance identification. First, the receptors of the nose are exposed to a substance by means of inhalation with an electric pump. Then a chemical reaction takes place in the gas sensors over a period of time and an artificial neural network processes the resulting sensor patterns. This network was trained to recognize a basic set of pure substances such as vanilla, lavender and yogurt under controlled laboratory conditions. The complete system was then validated through a series of experiments on various combinations of the basic substances. First, we showed that the nose was able to consistently recognize unseen samples of the same substances on which it had been trained. In addition, we presented some first results where the nose was tested on novel combinations of substances on which it had not been trained by combining the learned descriptions - for example, it could distinguish lavender yogurt as a combination of lavender and yogurt.
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