structuring processes into abilities an information
play

Structuring processes into abilities : an information-oriented - PowerPoint PPT Presentation

Aug 17, 2023 •291 likes •953 views

Plan Context Our proposal Conclusion and future work Structuring processes into abilities : an information-oriented architecture for autonomous robots Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr May 19, 2010 Arnaud

  1. Plan Context Our proposal Conclusion and future work Structuring processes into abilities : an information-oriented architecture for autonomous robots Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr May 19, 2010 Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 1 / 20

  2. Plan Context Our proposal Conclusion and future work Context 1 Our proposal 2 Conclusion and future work 3 Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 2 / 20

  3. Plan Context Our proposal Conclusion and future work Presentation Plan Context 1 Our proposal 2 Conclusion and future work 3 Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 2 / 20

  4. Plan Context Our proposal Conclusion and future work Work context The PEA project ACTION http://action.onera.fr Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 3 / 20

  5. Plan Context Our proposal Conclusion and future work Work context The PEA project ACTION http://action.onera.fr In particular, controlling an UGV: Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 3 / 20

  6. Plan Context Our proposal Conclusion and future work Work context The PEA project ACTION http://action.onera.fr In particular, controlling an UGV: Common tasks : Exploring Tracking target Following target Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 3 / 20

  7. Plan Context Our proposal Conclusion and future work Problem statement Considering a set of robot capacities a (set of) mission(s) a more or less unknown environment Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 4 / 20

  8. Plan Context Our proposal Conclusion and future work Problem statement Considering a set of robot capacities a (set of) mission(s) a more or less unknown environment How to organize this different processes to achieve the mission ? in an efficient way in the most autonomous way Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 4 / 20

  9. Plan Context Our proposal Conclusion and future work Related work : 3-layer architecture Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 5 / 20

  10. Plan Context Our proposal Conclusion and future work Related work : 3-layer architecture Issues with this approach Different representation between layers ⇒ difficult diagnostic Scalability issues Monolithic blocks Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 5 / 20

  11. Plan Context Our proposal Conclusion and future work Related work : 2-layer architecture Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 6 / 20

  12. Plan Context Our proposal Conclusion and future work Related work : 2-layer architecture Improvements Better interaction in decision layer Problem partition ⇒ better reactivity Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 6 / 20

  13. Plan Context Our proposal Conclusion and future work Related work : 2-layer architecture Improvements Better interaction in decision layer Problem partition ⇒ better reactivity Issues non-composable decomposition Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 6 / 20

  14. Plan Context Our proposal Conclusion and future work Requirements Requirements Reactive to external event, ”adaptable” Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 7 / 20

  15. Plan Context Our proposal Conclusion and future work Requirements Requirements Reactive to external event, ”adaptable” Robust to single component failure Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 7 / 20

  16. Plan Context Our proposal Conclusion and future work Requirements Requirements Reactive to external event, ”adaptable” Robust to single component failure Generic, modular, extensible Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 7 / 20

  17. Plan Context Our proposal Conclusion and future work Requirements Requirements Reactive to external event, ”adaptable” Robust to single component failure Generic, modular, extensible Verifiable, ”provable” Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 7 / 20

  18. Plan Context Our proposal Conclusion and future work Presentation Plan Context 1 Our proposal 2 Conclusion and future work 3 Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 7 / 20

  19. Plan Context Our proposal Conclusion and future work Splitting up into information What is an information ? robot internal state possible futures of the robot (i.e. plan) data from the outside world, processed or not. Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 8 / 20

  20. Plan Context Our proposal Conclusion and future work Splitting up into information What is an information ? robot internal state possible futures of the robot (i.e. plan) data from the outside world, processed or not. Why partitioning on top of information ? Information is a first-class object of the functional layer Competition on information acquisition Information is robot-agnostic Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 8 / 20

  21. Plan Context Our proposal Conclusion and future work Ability notion Definition Each piece of information is encapsulated in an ability This information can be constrained by some free variables Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 9 / 20

  22. Plan Context Our proposal Conclusion and future work Ability notion Definition Each piece of information is encapsulated in an ability This information can be constrained by some free variables A more formal definition Ability = < N a , S r , S w , S i , S T , S F , S Ta , S rt > Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 9 / 20

  23. Plan Context Our proposal Conclusion and future work Ability notion Definition Each piece of information is encapsulated in an ability This information can be constrained by some free variables A more formal definition Ability = < N a , S r , S w , S i , S T , S F , S Ta , S rt > Identifier N a : ability identifier Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 9 / 20

  24. Plan Context Our proposal Conclusion and future work Ability notion Definition Each piece of information is encapsulated in an ability This information can be constrained by some free variables A more formal definition Ability = < N a , S r , S w , S i , S T , S F , S Ta , S rt > Context S r : Readable variables, real information S w : Writable variables, control ability behaviour S i : Internal variables Arnaud Degroote, Simon Lacroix adegroot@laas.fr , simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 9 / 20

Recommend

Processes Purpose To define the physical structuring of a system. Concepts Process

Processes Purpose To define the physical structuring of a system. Concepts Process

Chapter 11 Processes Purpose To define the physical structuring of a system. Concepts Process architecture: A system-execution structure composed of interdependent processes. Processor: A piece of equipment that can execute a pro-

428 views • 22 slides
All Abilities Children Park All Abilities Children Park Beach Road - Existing Condition

All Abilities Children Park All Abilities Children Park Beach Road - Existing Condition

V izag S mart C ity Greater VISAKHAPATNAM Smart City Corporation Limited (GVSCCL) Concept Design All Abilities Children Park All Abilities Children Park Beach Road - Existing Condition Existing information Name : Children's Park

992 views • 17 slides
UCP Applied Abilities Program Goals: Assess customers' abilities, needs, preferences, and

UCP Applied Abilities Program Goals: Assess customers' abilities, needs, preferences, and

UCP Applied Abilities Program Goals: Assess customers' abilities, needs, preferences, and barriers All customers are engaged in income producing activities o In house work opportunity o Micro enterprise o Individual/group job placement

422 views • 8 slides
Mindreading and Joint Action Theory of mind abilities are widespread Theory of mind abilities are

Mindreading and Joint Action Theory of mind abilities are widespread Theory of mind abilities are

Mindreading and Joint Action Theory of mind abilities are widespread Theory of mind abilities are widespread 18-month-olds point to (Liszkowski et al 2006) inform, and predict actions (Onishi &amp; Baillargeon 2005; based on false beliefs

869 views • 82 slides
Structuring Computations Structuring Computations Contents Jacobs Types06, 18/4/06

Structuring Computations Structuring Computations Contents Jacobs Types06, 18/4/06

FACULTY OF SCIENCE Bart Jacobs Structuring Computations Structuring Computations Contents Jacobs Types06, 18/4/06 p.1/52 Structuring Computations Contents I. Sneak preview VII. Hoare logic for JML II. Comonads VIII. Conclusions

1.79k views • 164 slides
The Contribution of Bioinformatics to Evolutionary Thought A demonstration of the abilities of

The Contribution of Bioinformatics to Evolutionary Thought A demonstration of the abilities of

The Contribution of Bioinformatics to Evolutionary Thought A demonstration of the abilities of Entrez, BLAST, and UCSCs Genome Browser to provide information about common ancestry. American Scientific Affiliation Annual Meeting July 22, 2012

848 views • 33 slides
Build websites that suit the needs and abilities of users The main goal of many websites is to

Build websites that suit the needs and abilities of users The main goal of many websites is to

Goal 1 Build websites that suit the needs and abilities of users The main goal of many websites is to display information users need. 2 Tools for indicating importance in the visual information hierarchy Conceptual grouping Location

794 views • 76 slides
4&gt; . -r' ' ; ( , i ~ An Approach to Structuring for the VDM Specification Language

4&gt; . -r' ' ; ( , i ~ An Approach to Structuring for the VDM Specification Language

4&gt; . -r' ' ; ( , i ~ An Approach to Structuring for the VDM Specification Language Stephen Bear Fli;' HEWLETT HPLABS - INFORMATION SYSTEMS CENTRE SOFTWARE ENGINEERING DEPARTMENT PACKARD ~ REQUIREMENTS Allow a large

800 views • 40 slides
1 Unstructured data for injection molding* Finding information with CES File Edit View

1 Unstructured data for injection molding* Finding information with CES File Edit View

Process Selection Manufacturing processes Processes and their attributes The text book classified manufacturing processes into three broad categories Screening by attributes Shaping Selecting shape-forming processes Joining

531 views • 7 slides
4. Numerical Quadrature: Where analytical abilities end . . . 4. Numerical Quadrature: Where

4. Numerical Quadrature: Where analytical abilities end . . . 4. Numerical Quadrature: Where

Preliminary Remarks Simple and Composite Rules Extrapolation Other Approaches Applications of Quadrature 4. Numerical Quadrature: Where analytical abilities end . . . 4. Numerical Quadrature: Where analytical abilities end . . . Numerical

463 views • 32 slides
Student Information Year-End Processes Office of Data &amp; Accountability Student Information

Student Information Year-End Processes Office of Data &amp; Accountability Student Information

Student Information Year-End Processes Office of Data &amp; Accountability Student Information Support Branch ITD UserVoice For questions regarding year end processes, please contact your local district Certify contact as indicated below.

114 views • 8 slides
PLANT DESIGN AND ECONOMICS (2) Zahra Maghsoud Sources of Information on Manufacturing Processes

PLANT DESIGN AND ECONOMICS (2) Zahra Maghsoud Sources of Information on Manufacturing Processes

// PLANT DESIGN AND ECONOMICS (2) Zahra Maghsoud Sources of Information on Manufacturing Processes The information that is published on commercial processes is restricted. Technical literature and textbooks give

408 views • 29 slides
Diverse Abilities NS: Highlights 2018-2019 May 28 th , 2019 Joyce dEntremont, Chair Diverse

Diverse Abilities NS: Highlights 2018-2019 May 28 th , 2019 Joyce dEntremont, Chair Diverse

Diverse Abilities NS: Highlights 2018-2019 May 28 th , 2019 Joyce dEntremont, Chair Diverse Abilities NS Who We Are Comprised of the 8 major organizations supporting persons with disabilities through residential care, group homes, and

359 views • 8 slides
Woodside v. Jahren = the Abilities Amendment NIMBYism results in a Fair Housing Ruling from the

Woodside v. Jahren = the Abilities Amendment NIMBYism results in a Fair Housing Ruling from the

Woodside v. Jahren = the Abilities Amendment NIMBYism results in a Fair Housing Ruling from the Florida Supreme Court Abilities, Inc. of Florida Doors opened in 1958 Primary Campus is Clearwater Offices in 14 counties in Florida

541 views • 19 slides
Implementing Processes Implementing Processes Review: Threads vs vs. Processes . Processes

Implementing Processes Implementing Processes Review: Threads vs vs. Processes . Processes

Implementing Processes Implementing Processes Review: Threads vs vs. Processes . Processes Review: Threads 1. The process is a kernel abstraction for an independent executing program. includes at least one thread of control data also

416 views • 12 slides
Good Deals Gone Bad: Good Deals Gone Bad: Structuring Transactions to Structuring Transactions

Good Deals Gone Bad: Good Deals Gone Bad: Structuring Transactions to Structuring Transactions

Good Deals Gone Bad: Good Deals Gone Bad: Structuring Transactions to Structuring Transactions to Reduce the Risk of Litigation Reduce the Risk of Litigation Avoiding Post-Acquisition Disputes Philip O. Brandes Brian J. Massengill Partner

369 views • 20 slides
19. Series Representation of Stochastic Processes t Given information about a stochastic

19. Series Representation of Stochastic Processes t Given information about a stochastic

19. Series Representation of Stochastic Processes t Given information about a stochastic process X ( t ) in 0 T , can this continuous information be represented in terms of a countable set of random variables whose relative importance

635 views • 41 slides
Structuring Enforceable Nondisclosure Agreements: Protecting Trade Secrets and Other Confidential

Structuring Enforceable Nondisclosure Agreements: Protecting Trade Secrets and Other Confidential

Presenting a live 90-minute webinar with interactive Q&amp;A Structuring Enforceable Nondisclosure Agreements: Protecting Trade Secrets and Other Confidential Business Information TUES DAY, MARCH 18, 2014 1pm East ern | 12pm Cent ral |

1.11k views • 52 slides
State Tax Incentives: Structuring Activities to Take Advantage of Capital Investment, Hiring and

State Tax Incentives: Structuring Activities to Take Advantage of Capital Investment, Hiring and

State Tax Incentives: Structuring Activities to Take Advantage of Capital Investment, Hiring and Negotiated Credits WEDNESDAY , MARCH 23, 2016, 1:00-2:50 pm Eastern IMPORTANT INFORMATION This program is approved for 2 CPE credit hours . To earn

714 views • 49 slides
Birth and Death Processes Today: Birth processes Birth and Death Processes Death

Birth and Death Processes Today: Birth processes Birth and Death Processes Death

Birth and Death Processes Today: Birth processes Birth and Death Processes Death processes Biarth and death processes Bo Friis Nielsen 1 Limiting behaviour of birth and death processes Next week 1 DTU Informatics Finite state

309 views • 7 slides
STRUCTURING ENVISIONMENT: USING UNDERSTANDING OF CURRENT PRACTICES TO DESIGN FOR FUTURE USE Jennie

STRUCTURING ENVISIONMENT: USING UNDERSTANDING OF CURRENT PRACTICES TO DESIGN FOR FUTURE USE Jennie

Published in the Proceedings of OZCHI 2001 STRUCTURING ENVISIONMENT: USING UNDERSTANDING OF CURRENT PRACTICES TO DESIGN FOR FUTURE USE Jennie Carroll 1 and Steve Howard 1 1 Interaction Design Group, Department of Information Systems The

66 views • 6 slides
Strategy in a Down Market Evaluating Advantages and Risks, Best Practices for Structuring the Deal

Strategy in a Down Market Evaluating Advantages and Risks, Best Practices for Structuring the Deal

Presenting a live 90-minute webinar with interactive Q&amp;A Structuring M&amp;A and Private Equity Sales Involving ESOPs: Alternative Strategy in a Down Market Evaluating Advantages and Risks, Best Practices for Structuring the Deal TUESDAY,

1.13k views • 86 slides
Structuring Affordable Acquisitions Optima Corporate Finance Our Services Acquisitions Have

Structuring Affordable Acquisitions Optima Corporate Finance Our Services Acquisitions Have

Structuring Affordable Acquisitions Optima Corporate Finance Our Services Acquisitions Have acted for a range of public and private companies in identifying acquisition targets negotiating &amp; structuring terms and project managing deals to

124 views • 9 slides
Last Class: Processes A process is the unit of execution. Processes are represented as

Last Class: Processes A process is the unit of execution. Processes are represented as

Last Class: Processes A process is the unit of execution. Processes are represented as Process Control Blocks in the OS PCBs contain process state, scheduling and memory management information, etc A process is either New,

703 views • 14 slides

More recommend