B.B.Werger,"Ayllu: Distributed PortArbitrated Behavior-Based Control," Ullanta Performance Robotics Technical Report 98-01, To appear in Proceedings of DARS 2000.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....of communicating intentions and needs. Initially, the robot (which has a typical mobile robot form entirely different from that of the human) was given a behavior set that allowed it to track colored targets, open doors, pick up, drop, and push objects. The behaviors were implemented using AYLLU [22], an extension of the C language for development of distributed control systems for mobile robot teams. We tested our concepts on a Pioneer 2 DX mobile robot, equipped with two rings of sonars (8 front and 8 rear) a SICK laser range finder, a pan tilt zoom color camera, a gripper, and on board ....

B. B. Werger. Ayllu: Distributed port-arbitrated behaviorbased control. In Proc., The 5th Intl. Symp. on Distributed Autonomous Robotic Systems, pages 25--34, Knoxville, TN, 2000. Springer. 10

....One approach proposed in [13] uses inhibition and suppression across a network of heterogeneous robots augmented with motivational behaviors that can trigger behavior invocation based on some internal parameters that measure progress. A similar approach was proposed in the AYLLU architecture [14], which uses port arbitration as the main mechanism for multi robot behavior coordination. Both of these approaches can be viewed as the extension of subsumptive style arbitration to multi robot coordination. Recently, work in progress is investigating the extension of the 3T architecture to ....

B.B.Werger, "Ayllu: Distributed Port-Arbitrated Behavior-Based Control," in Distributed Autonomous Robotic Systems 4, Lynne E. Parker, George Bekey, and Jacob Barhen (eds.), Springer, 2000:25-34.

....concepts on a Pioneer 2 DX mobile robot, equipped with two rings of sonars (8 front and 8 rear) a SICK laser range finder, a pan tilt zoom color camera, a gripper, and on board computation on a PC104 stack. We performed the experiments in a 5.4m x 6.6m arena. The robot was programmed using AYLLU [19], an extension of C for development of distributed control systems for mobile robots. For the voice commands and feedback we used an off the shelf Logitech cordless headset, and the IBM ViaVoice software recognition engine. The robot has a behavior set that allows it to track cylindrical colored ....

B. B. Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Proc., The 5th Intl. Symp. on Distributed Autonomous Robotic Systems, pages 25--34, Knoxville, TN, 2000. Springer.

....Player protocol and implementation. Further, we already have examples of many of these clients. 3 Related Work Previous work in the area of robot programming interfaces has focused primarily on providing a development environment that suits a particular control philosophy. For exam ple, Ayllu [10], which, like Player, can be used to control the ActivMedia Pioneer robots, provides tools for creating concurrent behaviors and, further, enforces a behavior based control structure [1] Similarly, COLBERT Saphira [5] which can also control the Pioneer robots (among others) is concerned ....

Barry Brian Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Proceedings of the Intl. Syrup. on Distributed Autonomous Robotic Systems (DARS), Knoxville, Tennessee, October 2000.

....behaviors are composed of a set of processes, running continuously and concurrently with other behaviors, and an interface of input and output ports with which they can communicate with other behaviors. The implementation presented here utilizes the Port Arbitrated Behavior paradigm presented by [16]. An Abstract Behavior has the following Input Ports (Figure 2) UseBehavior (binary input) signals if the behavior is used in the current network controller. The behavior is enabled if the port has a value of 1, and disabled otherwise. ActivLevel: sums the activation messages received ....

....concepts on a Pioneer 2 DX mobile robot, equipped with two rings of sonars (8 front and 8 rear) a SICK laser range nder, a pan tilt zoom color camera, a gripper, and on board computation on a PC104 stack. We performed the experiments in a 5.4m x 6.6m arena. The robot was programmed using AYLLU [16], an extension of C for development of distributed control systems for mobile robots. The robot has a behavior set that allows it to track colored targets, pick up and drop objects: PickUp(ColorOfObject) the robot picks up an object of the color ColorOfObject. Achieves HaveObject = TRUE. ....

B. B. Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Proc., The 5th Intl. Symp. on Distributed Autonomous Robotic Systems, pages 25-34, Knoxville, TN, 2000. Springer.

....used in this project is a Pioneer 2 robot, as the one shown in Figure 1. The robot is equipped with 16 sonars, a compass, a gripper, a pan tilt zoom (PTZ) camera with a frame grabber, a RF Ethernet modem connection and a Pentium 233 MHz PC 104 onboard computer. The programming environment is Ayllu [17], a development tool for multi agent behavior based control systems. The PTZ camera is a Sony EVI D30 with 12X optical zoom, high speed auto focus lens and a wide angle len, pan range of #90 degrees (at a maximum speed of 80 degrees sec) and a tilt range of #30 degrees (at a maximumspeedof50 ....

B. B. Werger. Ayllu: Distributed port-arbitrated behavior-based control. In L. Parker and G. B. andJ. Barhen, editors, DistributedAutonomous Robotic Systems, pages 25-34. Springer, 2000.

....disposal six Pioneer 2 robots, three indoor and three outdoor models. Each robot is equipped with 16 sonars, a compass, a gripper, a pan tilt zoom (PTZ) camera with a frame grabber, a RF Ethernet modem connection and a Pentium 233 MHz PC 104 onboard computer. The programming environment is Ayllu [24], a development tool for multi agentbehavior based control systems. Each robot is also equipped with a ring of seven infrared detectors, located at its back as shown in Figure 4. This allows the robot to detect the charging station, which emits an infrared signal. The charging station is shown in ....

B. B. Werger. Ayllu: Distributed port-arbitrated behavior-based control. In L. Parker and G. B. andJ. Barhen, editors, DistributedAutonomous Robotic Systems, pages 25-34. Springer, 2000.

....tracked . Thus, by merging the information from two types of sensors, camera and laser, the Track behavior gives the robot the ability to keep track of positions of objects around it, even if they are not currently in the camera s eld of view. The behaviors were implemented using AYLLU [19], an extension of C for development of distributed control systems for mobile robots. We performed the three experiment sets in a 4m x 6m arena. They consisted of a demonstration phase (the human presented a task to the robot and the robot built a task representation) and the execution phase, ....

Barry Brian Werger. Ayllu: Distributed portarbitrated behavior-based control. In Proc., The 5th Intl. Symp. on DARS, pages 25-34, 2000.

....Player protocol and implementation. Further, we already have examples of many of these clients. 3 Related Work Previous work in the area of robot programming interfaces has focused primarily on providing a development environment that suits a particular control philosophy. For example, Ayllu [13], which, like Player, can be used to control the ActivMedia Pioneer robots, provides tools for creating concurrent behaviors and, further, enforces a behavior based control structure [1] Similarly, COLBERT Saphira [7] which can also control the Pioneer robots (among others) is concerned mainly ....

Barry Brian Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Proc. of the Intl. Symp. on Distributed Autonomous Robotic Systems (DARS), pages 25-- 34, Knoxville, Tennessee, October 2000.

....equipped with two rings of sonars (8 front and 8 rear) a SICK laser range nder, a pan tilt zoom color camera, a gripper (only for one of the robots) and on board computation on a PC104 stack. We performed the experiments in a 5.4m x 6.6m arena 1 . The robots were programmed using AYLLU [16], an extension of C for development of distributed control systems for mobile robots. 4.1 Learning from demonstration We designed two di erent experiments that rely on navigation and object manipulation capabilities of the robots. First, we report on the performance of learning from human ....

B. B. Werger. Ayllu: Distributed port-arbitrated behaviorbased control. In Proc., The 5th Intl. Symp. on DARS, pages 25-34, 2000.

....Player protocol and implementation. Further, we already have examples of many of these clients. 3. RELATED WORK Previous work in the area of robot programming interfaces has focused primarily on providing a development environment that suits a particular control philosophy. For example, Ayllu [10], which, like Player, can be used to control the ActivMedia Pioneer robots, provides tools for creating concurrent behaviors and, further, enforces a behaviorbased control structure [1] Similarly, COLBERT Saphira [5] which can also control the Pioneer robots (among others) is concerned mainly ....

Barry Brian Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Proceedings of the Intl. Symp. on Distributed Autonomous Robotic Systems (DARS), Knoxville, Tennessee, October 2000.

....we designed three di erent experiments which rely on navigation and object manipulation capabilities of the robot. Initially, the robot was given a behavior set that allowed it to track colored targets, open doors, pick up, drop, and push objects. The behaviors were implemented using AYLLU [22], an extension of the C language for development of distributed control systems for mobile robot teams. We performed three di erent experiments in a 4m x 6m arena. During the demonstration phase a human teacher led the robot through the environment while the robot recorded the observations ....

Barry Brian Werger, \Ayllu: Distributed port-arbitrated behavior-based control," in Proc., DARS, the 5th Intl. Symp., 2000, pp. 25-34.

....Player protocol and implementation. Further, we already have examples of many of these clients. 3 Related Work Previous work in the area of robot programming interfaces has focused primarily on providing a development environment that suits a particular control philosophy. For example, Ayllu [10], which, like Player, can be used to control the ActivMedia Pioneer robots, provides tools for creating concurrent behaviors and, further, enforces a behaviorbased control structure [1] Similarly, COLBERT Saphira [5] which can also control the Pioneer robots (among others) is concerned mainly ....

Barry Brian Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Proceedings of the Intl. Symp. on Distributed Autonomous Robotic Systems (DARS), Knoxville, Tennessee, October 2000.

....to our disposal in our lab, three indoor and three outdoor models. Each robot is equipped with 16 sonars, a compass, a gripper, a pan tilt zoom (PTZ) camera with a frame grabber, a RF Ethernet modem connection and a Pentium 233 MHz PC 104 onboard computer. The programming environment is Ayllu (Werger 2000), a development tool for multi agent behavior based control systems. The robot used for the Mobile Robot Challenge is an indoor version, shown in Figure 1. The charging station is shown in Figure 2. The station emits an infrared signal that is detected by a ring of seven Figure 2: Our charging ....

Werger, B. B. 2000. Ayllu: Distributed port-arbitrated behavior-based control. In Proc. 5th Int. Symp. Distributed Autonomous Robotic Systems.

....8 rear#, a pan tilt zoom camera, a PC104 with an Intel2 processor at 233MHz and 32Mb of memory. All behaviors are sensor based; the robot uses its camera to detect the delivery point and the box, and determine the state of the door #open#closed#. The controller has been implemented using AYLLU #Werger 2000#, an extension of the C language for development of distributed control systems for groups of mobile robots. Behavior Networks for Delivery The solution for the delivery task was constructed by hand from the following repertoire of behaviors: # Localize the robot wanders around in order to ....

Werger, B. B. #2000#, Ayllu: Distributed PortArbitrated Behavior-Based Control, in `Proceedings of the 5th International Symposium on Distributed Autonomous Robotic Systems #DARS#, Knoxville, TN, Oct 4-6, 2000'.

....approaches simple agents, scalability, and robustness to environmental changes and robot failures in a generally applicable manner. For this, we have investigated situatedness in abstract environments. 3 Abstract Situatedness The Port Arbitrated Behavior Based Control (PAB) paradigm [Wer00] provides abstractions for constructing systems in behavior space, which shares certain key properties with the physical world: uncertainty, asynchronicity, and locality. As we will discuss below, entities in behavior space are able to influence or interfere with the operation of other entities, ....

....that exploit this situatedness. In this section we describe the PAB paradigm and the concept of situatedness in PAB behavior space. While the PAB approach to robotic control was introduced more than a decade ago, it is only with the recent introduction of our Ayllu language implementation [Wer00, Wer99b] that PAB behavior interaction has been able to take place between networked robots that is, that separate robots could inhabit the same behavior space. It is precisely this development that brings behavior space situatedness to the spotlight at this time. 4 3.1 Port Arbitrated ....

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Barry Brian Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Proceedings of DARS, 2000.

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B.B.Werger,"Ayllu: Distributed PortArbitrated Behavior-Based Control," Ullanta Performance Robotics Technical Report 98-01, To appear in Proceedings of DARS 2000.

No context found.

B. B. Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Proc., The 5th Intl. Symp. on Distributed Autonomous Robotic Systems, pages 25--34, Knoxville, TN, 2000. Springer.

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Werger, B. B. (2000). Ayllu: Distributed Port-Arbitrated BehaviorBased Control. In Parker, L. E., Bekey, G., and Barhen, J., editors, Distributed Autonomous Robotic Systems 4, pages 25--34. Springer.

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Werger, B.: Ayllu: Distributed port-arbitrated behavior-based control. In: Proc. of 5th International Symposium on Distributed Autonomous Robotic Systems (DARS). (2000) 24--35

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B. B. Werger. Ayllu: Distributed port-arbitrated behaviorbased control. In Proc., The 5th Intl. Symp. on Distributed Autonomous Robotic Systems, pages 25--34, Knoxville, TN, 2000. Springer.

No context found.

Barry Brian Werger. Ayllu: Distributed portarbitrated behavior-based control. In Lynne E. Parker, George Bekey, and Jacob Barhen, editors, Distributed Autonomous Robotic Systems 4, pages 25--34. Springer-Verlag, Knoxville, Tennessee, October 2000.

No context found.

Barry Brian Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Lynne E. Parker, George Bekey, and Jacob Barhen, editors, Distributed Autonomous Robotic Systems 4, pages 25--34. Springer-Verlag, Knoxville, Tennessee, October 2000.

No context found.

B. B. Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Proc., The 5th Intl. Symp. on Distributed Autonomous Robotic Systems, pages 25--34, Knoxville, TN, 2000. Springer.

No context found.

Barry Brian Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Lynne E. Parker, George Bekey, and Jacob Barhen, editors, Distributed Autonomous Robotic Systems 4, pages 25--34. Springer-Verlag, Knoxville, Tennessee, October 2000.

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