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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 AI, or GOFAI. 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 par ... [...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 '' states'' at any given time. The FSM can change from one state to another in response to some 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-state machines and non-deterministic finite-state machines. A deterministic finite-state machine can be constructed equivalent to any non-deterministic one. The behavior of state machines can be observed in many devices in modern society that perform a predetermined sequence of actions depending on a sequence of events with which they are presented. Simple examples are vending machines, which dispense p ... [...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 hi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Emergent Behavior
In philosophy, systems theory, science, and art, emergence occurs when an entity is observed to have properties its parts do not have on their own, properties or behaviors that emerge only when the parts 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. 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 ti ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Cognitive Architecture
A cognitive architecture refers to 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. The formalized models can be used to further refine a comprehensive theory of cognition and as a useful artificial intelligence program. 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. The Institute for Creative Technologies defines cognitive architecture as: "''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 ... [...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 * SubsumptionDeliberative reasoning architectures * Procedural ...[...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Natural-language Understanding
Natural-language understanding (NLU) or natural-language interpretation (NLI) is a subtopic of natural-language processing in artificial intelligence that deals with machine reading comprehension. Natural-language understanding is 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 natural-language understanding 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, Josep ... [...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 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 elaborated navigation strategy dramatically enhances the capabilities of the robot. Cognitive maps enable planning capacities and 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 rob ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
MIT Press
The MIT Press is a university press affiliated with the Massachusetts Institute of Technology (MIT) in Cambridge, Massachusetts (United States). It was established in 1962. History The MIT Press traces its origins back to 1926 when MIT published under its own name a lecture series entitled ''Problems of Atomic Dynamics'' given by the visiting German physicist and later Nobel Prize winner, Max Born. Six years later, MIT's publishing operations were first formally instituted by the creation of an imprint called Technology Press in 1932. 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 1962 the association with Wiley came to an end after a further 125 titles had been published. The press acquired its modern nam ... [...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] |
