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Subsumption Architecture
Subsumption architecture is a reactive robotic architecture heavily associated with behavior-based robotics which was very popular in the 1980s and 90s. The term was introduced by Rodney Brooks and colleagues in 1986.Brooks, R. A., "A Robust Programming Scheme for a Mobile Robot", Proceedings of NATO Advanced Research Workshop on Languages for Sensor-Based Control in Robotics, Castelvecchio Pascoli, Italy, September 1986. Subsumption has been widely influential in autonomous robotics and elsewhere in real-time AI. Overview Subsumption architecture is a control architecture that was proposed in opposition to traditional symbolic AI. Instead of guiding behavior by symbolic mental representations of the world, subsumption architecture couples sensory information to action selection in an intimate and bottom-up fashion. It does this by decomposing the complete behavior into sub-behaviors. These sub-behaviors are organized into a hierarchy of layers. Each layer implements a pa ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robotic Architectures
In robotics, a robotic paradigm is a mental model of how a robot operates. A robotic paradigm can be described by the relationship between the three basic elements of robotics: Sensing, Planning, and Acting. It can also be described by how sensory data is processed and distributed through the system, and where decisions are made. Hierarchical/deliberative paradigm * The robot operates in a top-down fashion, heavy on planning. * The robot senses the world, plans the next action, acts; at each step the robot explicitly plans the next move. * All the sensing data tends to be gathered into one global world model. The reactive paradigm * Sense-act type of organization. * The robot has multiple instances of Sense-Act couplings. * These couplings are concurrent processes, called behaviours, which take the local sensing data and compute the best action to take independently of what the other processes are doing. * The robot will do a combination of behaviours. Hybrid deliberate/re ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Finite-state Machine
A finite-state machine (FSM) or finite-state automaton (FSA, plural: ''automata''), finite automaton, or simply a state machine, is a mathematical model of computation. It is an abstract machine that can be in exactly one of a finite number of ''State (computer science), states'' at any given time. The FSM can change from one state to another in response to some Input (computer science), inputs; the change from one state to another is called a ''transition''. An FSM is defined by a list of its states, its initial state, and the inputs that trigger each transition. Finite-state machines are of two types—Deterministic finite automaton, deterministic finite-state machines and Nondeterministic finite automaton, non-deterministic finite-state machines. For any non-deterministic finite-state machine, an equivalent deterministic one can be constructed. The behavior of state machines can be observed in many devices in modern society that perform a predetermined sequence of actions d ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robotic Paradigm
In robotics, a robotic paradigm is a mental model of how a robot operates. A robotic paradigm can be described by the relationship between the three basic elements of robotics: Sensing, Planning, and Acting. It can also be described by how sensory data is processed and distributed through the system, and where decisions are made. Hierarchical/deliberative paradigm * The robot operates in a top-down fashion, heavy on planning. * The robot senses the world, plans the next action, acts; at each step the robot explicitly plans the next move. * All the sensing data tends to be gathered into one global world model. The reactive paradigm * Sense-act type of organization. * The robot has multiple instances of Sense-Act couplings. * These couplings are concurrent processes, called behaviours, which take the local sensing data and compute the best action to take independently of what the other processes are doing. * The robot will do a combination of behaviours. Hybrid deliberate/re ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Hierarchical Control System
A hierarchical control system (HCS) is a form of control system in which a set of devices and governing software is arranged in a hierarchical tree. When the links in the tree are implemented by a computer network, then that hierarchical control system is also a form of networked control system. Overview A human-built system with complex behavior is often organized as a hierarchy. For example, a command hierarchy has among its notable features the organizational chart of superiors, subordinates, and lines of organizational communication. Hierarchical control systems are organized similarly to divide the decision making responsibility. Each element of the hierarchy is a linked node in the tree. Commands, tasks and goals to be achieved flow down the tree from superior nodes to subordinate nodes, whereas sensations and command results flow up the tree from subordinate to superior nodes. Nodes may also exchange messages with their siblings. The two distinguishing features of a hier ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Emergent Behavior
In philosophy, systems theory, science, and art, emergence occurs when a complex entity has properties or behaviors that its parts do not have on their own, and emerge only when they interact in a wider whole. Emergence plays a central role in theories of integrative levels and of complex systems. For instance, the phenomenon of life as studied in biology is an emergent property of chemistry and physics. In philosophy, theories that emphasize emergent properties have been called emergentism. In philosophy Philosophers often understand emergence as a claim about the etiology of a system's properties. An emergent property of a system, in this context, is one that is not a property of any component of that system, but is still a feature of the system as a whole. Nicolai Hartmann (1882–1950), one of the first modern philosophers to write on emergence, termed this a ''categorial novum'' (new category). Definitions This concept of emergence dates from at least the time of Aris ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Cognitive Architecture
A cognitive architecture is both a theory about the structure of the human mind and to a computational instantiation of such a theory used in the fields of artificial intelligence (AI) and computational cognitive science. These formalized models can be used to further refine comprehensive theories of cognition and serve as the frameworks for useful artificial intelligence programs. Successful cognitive architectures include ACT-R (Adaptive Control of Thought – Rational) and SOAR. The research on cognitive architectures as software instantiation of cognitive theories was initiated by Allen Newell in 1990. A theory for a cognitive architecture is an "''hypothesis about the fixed structures that provide a mind, whether in natural or artificial systems, and how they work together — in conjunction with knowledge and skills embodied within the architecture — to yield intelligent behavior in a diversity of complex environments." History Herbert A. Simon, one of the founders ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Agent Architecture
Agent architecture in computer science is a blueprint for software agents and intelligent control systems, depicting the arrangement of components. The architectures implemented by intelligent agents are referred to as cognitive architectures. The term agent is a conceptual idea, but not defined precisely. It consists of facts, set of goals and sometimes a plan library. Types Reactive architectures *Deliberative reasoning architectures *[...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Natural-language Understanding
Natural language understanding (NLU) or natural language interpretation (NLI) is a subset of natural language processing in artificial intelligence that deals with machine reading comprehension. NLU has been considered an AI-hard problem. There is considerable commercial interest in the field because of its application to automated reasoning, machine translation, question answering, news-gathering, text categorization, voice-activation, archiving, and large-scale content analysis. History The program STUDENT, written in 1964 by Daniel Bobrow for his PhD dissertation at MIT, is one of the earliest known attempts at NLU by a computer. Eight years after John McCarthy coined the term artificial intelligence, Bobrow's dissertation (titled ''Natural Language Input for a Computer Problem Solving System'') showed how a computer could understand simple natural language input to solve algebra word problems. A year later, in 1965, Joseph Weizenbaum at MIT wrote ELIZA, an interact ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Robotic Mapping
Robotic mapping is a discipline related to computer vision and cartography. The goal for an autonomous robot is to be able to construct (or use) a map (outdoor use) or floor plan (indoor use) and to localize itself and its recharging bases or beacons in it. Robotic mapping is that branch which deals with the study and application of the ability to localize itself in a map/plan, and sometimes to construct the map or floor plan by the autonomous robot. Evolutionarily shaped blind action may suffice to keep some animals alive. For some insects, for example, the environment is not interpreted as a map, and they survive only with a triggered response. A slightly more elaborate navigation strategy dramatically enhances the capabilities of the robot. Cognitive maps enable planning capacities and the use of current perceptions, memorized events, and expected consequences. Operation The robot has two sources of information: the idiothetic and the allothetic sources. When in motion, a ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
MIT Press
The MIT Press is the university press of the Massachusetts Institute of Technology (MIT), a private research university in Cambridge, Massachusetts. The MIT Press publishes a number of academic journals and has been a pioneer in the Open Access movement in academic publishing. History MIT Press traces its origins back to 1926 when MIT published a lecture series entitled ''Problems of Atomic Dynamics'' given by the visiting German physicist and later Nobel Prize winner, Max Born. In 1932, MIT's publishing operations were first formally instituted by the creation of an imprint called Technology Press. This imprint was founded by James R. Killian, Jr., at the time editor of MIT's alumni magazine and later to become MIT president. Technology Press published eight titles independently, then in 1937 entered into an arrangement with John Wiley & Sons in which Wiley took over marketing and editorial responsibilities. In 1961, the centennial of MIT's founding charter, the ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Allen (robot)
Allen was a robot introduced by Rodney Brooks and his team in the late 1980s, and was their first robot based on subsumption architecture. It had sonar distance and odometry on board, and used an offboard lisp machine to simulate subsumption architecture. It resembled a footstool on wheels. Allen used three layers of control which are implemented in subsumption architecture. "The lowest layer of control makes sure that the robot does not come into contact with other objects." Due to this layer it could avoid static and dynamic obstacles, but it could not move. It sat in the middle of the room, waiting for obstruction. When the obstruction came, Allen ran away, avoiding collisions as it went. It used following internal representation, and every sonar return represented a repulsive force with, and inverse square drop off in strength. Direction of its move was obtained by sum of the repulsive forces (suitably thresholded). It possessed an additional reflex which halted it whenever it ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
