K. Konolige, K. Myers, E. Ruspini, A. Saotti, The saphira architecture: A design for autonomy, Journal of Experimental and Theoretical Arti cial Intelligence 9 (1) (1997) 215-235.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....particularly suited to goal and subgoal management and dealing with the sequencing and interaction between subgoals. PRS interacts with a lower level egocenteric representational framework called LPS Local Perceptual Space which is core to the Saphira robot control package. The Saphira system [9], 8] uses LPS and shares several objectives and features with RoboDaemon. Saphira is also based on a client server model of robot control whereby the robot provides a set of basic functions that can be used to interact with it. Like the system described here, it allows for extensibility on the ....

K. Konolige, K. Myers, E. Ruspini, and A. Saffiotti, "The saphira architecture: A design for autonomy," Journal of experimental & theoretical artificial intelligence, vol. 9, pp. 215--235, 1997.

....and future directions of the FROB project. 2 A Review of Programming Languages The term robot programming language encompasses a broad, disparate collection of work. At one end of the spectrum are languages 1 specifically designed for joint level or Cartesian motion, e.g. RCCL [10] or Saphira [16]. At the other end of the spectrum are languages that have been motivated by the needs of AI planning or, more generally, high level goal based specification of behavior, e.g. RPL or PRS. In this review, we will generally focus to a variety of intermediate level languages have emerged in ....

....that facilitate the description of higher level system behavior. Although our review is focussed on these systems, we also discuss a variety of other architectures in Section 3. 2. 1 Colbert Colbert is called as a sequencer language by its developers [15] It is part of the Saphira architecture [16]. The Saphira architecture is an integrated sensing and control system for robotics applications. Complex operations like visual tracking of humans, coordination of motor controls, planning are integrated in the architecture using the concepts of coordination of behavior, coherence of modeling, ....

Kurt Konolige, Karen Myers, and Enrique Ruspini. The saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9, 1997. 28

....system is the development of a general library of low level and situation driven high level plan sketches. In contrast to CHIP s plans the plans of SRCs are additionally designed to be reasoned about and revised. Our approach to plan based control of robotic agents differs from the FLAKEY approach [15] in several ways. FLAKEY dispenses with execution time deliberation [19] and can therefore not predict and forestall execution failures in the way Structured Reactive Controllers do. The emphasis in the development of the REMOTE AGENT is the design of a plan based control system that controls a ....

K. Konolige, K. Myers, E. Ruspini, and A. Saffiotti. The saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(2), 1997.

....control processes are limited. If they generate signals for the same motors the combined effects are determined by the so called task arbitration scheme [5] The most common task arbitration schemes are (1) behavior blending (where the motor signal is a weighted sum of the current input signals) [30]; 2) prioritized control signals (where the motor signal is the signal of the process with the highest priority) 17] and (3) exclusion of concurrent control signals through the use of semaphores. Any of these schemes can be handled by an appropriate projection algorithm for combined effects. In ....

K. Konolige, K. Myers, E. Ruspini, and A. Saffiotti. The saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(2), 1997.

....description of the integration of the framework within the mobile robots) and in the scenario of robotic soccer players provided by RoboCup competitions. In the implementation, our planner generates Colbert activities (control programs) that can be directly executed by the Saphira system [ Konolige et al. 1997 ] which controls the mobile base. Before we introduce the examples, it is worth pointing out that our aim here is not to describe the full implementation, but rather to focus on the generation of plans that highlight the features of the formalism. In particular, we do not address here the ....

K. Konolige, K.L. Myers, E.H. Ruspini, and A. Saffiotti. The Saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(1):215--235, 1997.

....a detailed argument and surveys hybrid control architectures; the many working autonomous robots that use hybrid architectures include the Remote Agent Project [MNPW98,Rem00] as their highest flying example. While hybrid, layered control architectures for autonomous robots, such as Saphira [KMSR97] or 3T [BFG 97] are state of the art, some problems remain that make it a still complicated task to build a control system for a concrete robot to work on a concrete task. To quote Arkin [Ark98, p. 207] the nature of the boundary between deliberation and reactive execution is not well ....

....control systems (BBSs) namely, those consisting of behaviors expressed by nonlinear dynamical functions of a particular form, as described in Sec. 2. The point of having activation values in BBSs is not new; it is also the case, e.g. for the behavior based fuzzy control part underlying Saphira [KMSR97] where the activation values are used for contextdependent blending of behavior outputs, which is similar to their use in our BBS framework. Activation values also provide the degree of applicability of the corresponding motor schemas in [Ark98, p. 141] The activation values of a dynamical ....

K. Konolige, K. Myers, A. Saffiotti, and E. Ruspini. The Saphira architecture: A design for autonomy. J. Expt. Theor. Artif. Intell., 9:215--235, 1997.

....system [19] 14] 16] There is on going research in activities aimed at blurring the distinction between the planning and executive layers [9] 11] Other architectures did not explicitly follow this typical breakdown. Some focused on particular paradigms such as a fuzzylogic based implementation [12] or a behavior based implementation [2] 5] There has been considerable e ort in architectures that addressed multiple and cooperating robots [15] 13] One di erence between the CLARAty architecture and the conventional three level architectures is the explicit distinction between levels of ....

K. Konolige, K. Myers, E. Ruspini, and A. Saotti. The saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Articial Intelligence, 9(1):215{ 235, 1997.

....i.e. they contain different layers for reactive and for deliberative control components. Typically, a middle layer (often called sequencing layer) mediates between the reactive and the deliberative components. Examples for the resulting threelayer hybrid architectures are 3T [4] and Saphira [12]; Arkin [1, Ch.6] gives more examples. More generally, many agent architectures are also designed as hybrid and layered, InteRRap [15] being an example. Finally, cognitive architectures tend to be described along the same structure, where Newell [17] calls the layers bands. Layeredness in robot ....

K. Konolige, K. Myers, A. Saffiotti, and E. Ruspini, `The Saphira architecture: A design for autonomy', J. Expt. Theor. Artif. Intell., 9, 215--235, (1997).

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K. Konolige, K.L. Myers, E.H. Ruspini, and A. Saffiotti. The Saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(1):215--235, 1997.

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K. Konolige, K. Myers, E. Ruspini, and A. Saffiotti. The Saphira Architecture: A design for autonomy. Journal of Experimental and Theoretical AI, 9, 1997.

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K. Konolige, K.L. Myers, E.H. Ruspini, and A. Saffiotti. The Saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(1):215--235, 1997.

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K. Konolige, K.L. Myers, E.H. Ruspini, and A. Saffiotti. The Saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(1):215--235, 1997.

....ffl philosophy of language; and ffl philosophical foundations of AI. There are few examples in the autonomous robotic literatures where the need and the role of anchoring has been explicitly identified and discussed. These include the SFB 527 project at Ulm [26] the Saphira architecture [16]; and the systems presented in [20, 15, 7, 27, 3 19] None of these works, however, pursue a systematic study of the anchoring problem. Bajcsy and Koseck a [4] propose a deeper analysis of a problem related to anchoring: the integration of signals and symbols, and the selection of the symbols ....

....cycle. In all these cases, we need to resort to the properties stored in the anchor, duly updated by the prediction process, in order to re identify the same object when it comes into view again. Preliminary versions of these general functionalities have been realized in the Saphira architecture [16] and in a more complete way 6 in the context of the witas project [9] In order to work out the details of these functionalities, however, we need to more carefully consider a few non trivial issues. First, anchoring should distinguish between definite and indefinite descriptors for an object. ....

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K. Konolige, K.L. Myers, E.H. Ruspini, and A. Saffiotti. The Saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(1):215--235, 1997.

.... architecture it consists of a fuzzy controller that implements a set of behaviors for achieving goals such Planning Sensing Motor Commands Execution Motion control Figure 1 1 A hybrid control architecture Colbert Executive 01 22 99 2 as corridor following, obstacle avoidance, and the like [Kon97]. The second layer is a sequencer that initiates and monitors behaviors, taking care of temporal aspects of coordinating behaviors, such as deciding when they have completed their job, or are no longer contributing to an overall goal, or when environmental conditions have changed enough to warrant ....

....planning takes place, with the results being passed down to the sequencing layer for execution. Generally, the planner is invoked and guided by conditions in the sequencing layer, e.g. a task failing or completing. There are many different instantiations of this architecture, including Sapphira [Kon97], SSS [Con92] ATLANTIS [Gat92] RAPs [Fir94] AuRA [Ark90] and Payton s reactive planners [Pay90] In almost all of these, the sequencer plays the role of the main executive, taking advice from the planner and invoking behaviors to accomplish goals. When one thinks of writing robot programs, it ....

K. Konolige, K. Myers, A. Saffiotti and E. Ruspini, The Saphira architecture: a design for autonomy, Journal of Experimental and Theoretical Artificial Intelligence, 9 (1997) pp. 215--235.

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K. Konolige, K. Myers, E. Ruspini, A. Saotti, The saphira architecture: A design for autonomy, Journal of Experimental and Theoretical Arti cial Intelligence 9 (1) (1997) 215-235.

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Konolige, K. Myers,E. Ruspini, and A. Saffiotti. The Saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(1):215--235,1997. 8. K. Konolige.

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K. Konolige, K. Myers, E. Ruspini, and A. Saffiotti, "The saphira architecture: A design for autonomy," Journal of experimental & theoretical artificial intelligence, vol. 9, pp. 215--235, 1997.

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Konolige, K., Myers, K., Saffiotti, A., and Ruspini, E. (1997). The Saphira architecture: a design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9:215--235.

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K. Konolige, K. L. Myers, E. H. Ruspini, and A. Sa#otti, `The Saphira architecture: A design for autonomy', Journal of experimental & theoretical artificial intelligence: JETAI, 9(1), 215--235, (1997).

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K. Konolige, K. L. Myers, E. H. Ruspini, and A. Sa#otti. The Saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Arti#cial Intelligence, 9#1#:215#235, 1997.

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K. Konolige, K. L. Myers, E. H. Ruspini, and A. Sa#otti, `The Saphira architecture: A design for autonomy', Journal of experimental & theoretical artificial intelligence: JETAI, 9(1), 215--235, (1997).

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Kurt Konolige, Karen Myers, Enrique Ruspini, and Alessandro Saffiotti. The saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(2), 1997.

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Konolige, K., Myers, K. L., Ruspini, E. H., and Saffiotti, A. (1997). The Saphira architecture: A design for autonomy. Journal of experimental & theoretical artificial intelligence: JETAI, 9(1):215--235.

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Konolige, K., Myers, K., Ruspini, E., Sa#otti, A.: The Saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence 9 (1997) 215--235

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K. Konolige, K. Myers, E. Ruspini, and A. Saffiotti. The saphira architecture: A design for autonomy. Journal of Experimental and Theoretical Artificial Intelligence, 9(2), 1997.

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