Cooperative Systems - Cooperative Plans

3 dezembro 2009, 14:00 • Rodrigo Ventura

An example: the MARTHA project. Cooperative plan representation by Petri nets.

Cooperative Systems - Cooperative Perception

26 novembro 2009, 14:00 • Rodrigo Ventura

Motivation. Probabilistic sensor models. Fusion of information from different sensors, some of them mobile, taking into account the observation and the localization uncertainty models. Agreement.

Stochastic Petri nets, MDPs and Reinforcement Learning

24 novembro 2009, 14:00 • Rodrigo Ventura

The stochastic view od DES. Stochastic Petri nets. Markov Decision Processes. Reinforcement learning as an online iterative optimal solution for MDPs.

Plan representation using Petri nets

19 novembro 2009, 14:00 • Rodrigo Ventura

Plan representation using Petri nets. Petri net definitions: bipartite weighted directed graph; marking; dynamics. Examples.

Plan representation using Petri nets: mapping robot tasks onto Petri net models. Task execution and token flow. Abstraction levels in Discrete Event Systems and different model views (untimed/logical, timed and stochastically timed). Plan qualitative analysis and PN problems: boundedness, conservation, liveness.

Task planning

17 novembro 2009, 14:00 • Rodrigo Ventura

The task planning problem. Logic-based planing: introduction to logic concepts (syntax, semantics, interpretations, propositions, entailment, derivation, representation of objects, functions and relations. soundness and completeness. Differences between propositional logic and predicate logic. Introduction to situation calculus.

Situation calculus: main definitions; effect axioms; frame axioms; successor-state axioms. Application examples.

Complexity of the planing problem. Planning problem as a graph search problem. Extensions of the basic planning problem.

Fundamentals of STRIPS: Stanford Research Institute Problem Solver. Definitions, operators, example. Relation to situation calculus.