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Extracting Situation Facts from Activation Value Histories in Behavior-Based Robots

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KI 2001: Advances in Artificial Intelligence (KI 2001)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2174))

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Abstract

The paper presents a new technique for extracting symbolic ground facts out of the sensor data stream in autonomous robots for use under hybrid control architectures, which comprise a behavior-based and a deliberative part. The sensor data are used in the form of time series curves of behavior activation values. Recurring patterns in individual behavior activation curves are aggregated to well-defined patterns, like edges and levels, called qualitative activations. Sets of qualitative activations for different behaviors occurring in the same interval of time are summed to activation gestalts. Sequences of activation gestalts are used for defining chronicles, the recognition of which establishes evidence for the validity of ground facts. The approach in general is described, and examples for a particular behavior-based robot control framework in simulation are presented and discussed.

This work is partially supported by the German Fed. Ministry for Education and Research (BMBF) in the joint project AgenTec (521-75091-VFG 0005B).

On leave from Tech. University of Cluj-Napoca, Romania. The work was supported by a Roman-Herzog scholarship of the Alexander von Humboldt foundation

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Author information

Authors and Affiliations

  1. GMD-German National Research Center for Information Technology, Institute for Autonomous intelligent Systems (AiS) Schloss Birlinghoven, 53754, Sankt, Augustin, Germany

    Frank Schönherr, Mihaela Cistelecan, Joachim Hertzberg & Thomas Christaller

Authors
  1. Frank Schönherr
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  2. Mihaela Cistelecan
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  3. Joachim Hertzberg
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  4. Thomas Christaller
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Editor information

Editors and Affiliations

  1. RWTH Aachen, Theoretical Computer Science, Ahornstrasse 55, 52074, Aachen, Germany

    Franz Baader

  2. Intelligent Systems Department, University of Leipzig, Computer Science Institute, Augustusplatz 10-11, 04109, Leipzig, Germany

    Gerhard Brewka

  3. Institute of Information Systems Knowledge-Based Systems Group, Vienna University of Technology, Favoritenstrasse 11, 1040, Wien, Austria

    Thomas Eiter

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© 2001 Springer-Verlag Berlin Heidelberg

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Schönherr, F., Cistelecan, M., Hertzberg, J., Christaller, T. (2001). Extracting Situation Facts from Activation Value Histories in Behavior-Based Robots. In: Baader, F., Brewka, G., Eiter, T. (eds) KI 2001: Advances in Artificial Intelligence. KI 2001. Lecture Notes in Computer Science(), vol 2174. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45422-5_22

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  • DOI: https://doi.org/10.1007/3-540-45422-5_22

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42612-7

  • Online ISBN: 978-3-540-45422-9

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