Sumários
Plan representation using Petri nets
15 novembro 2011, 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
10 novembro 2011, 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.
FastSLAM
8 novembro 2011, 14:00 • Rodrigo Ventura
FastSLAM and variations: EKF for tracking landmarks position, and occupancy grid maps.