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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

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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

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Plan Context Our proposal Conclusion and future work

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Context

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Our proposal

3

Conclusion and future work

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

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Plan Context Our proposal Conclusion and future work

Presentation Plan

1

Context

2

Our proposal

3

Conclusion and future work

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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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Plan Context Our proposal Conclusion and future work

Presentation Plan

1

Context

2

Our proposal

3

Conclusion and future work

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

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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

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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

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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

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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 =< Na , Sr, Sw, Si , ST, SF , STa, Srt >

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

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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 =< Na , Sr, Sw, Si , ST, SF , STa, Srt >

Identifier

Na : 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

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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 =< Na , Sr, Sw, Si , ST, SF , STa, Srt >

Context

Sr : Readable variables, real information Sw : Writable variables, control ability behaviour Si : 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

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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 =< Na , Sr, Sw, Si , ST, SF , STa, Srt >

Programmation environment

ST : a set of types SF : a set of functions, which works on previously defined ST

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

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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 =< Na , Sr, Sw, Si , ST, SF , STa, Srt >

Tasks

STa : a set of tasks Srt : a set of relation between tasks

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

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Plan Context Our proposal Conclusion and future work

Abilities network

position currentPos plan goal plan dtm lastPos lastTime isEmpty control track v w

runtime

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 10 / 20

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Plan Context Our proposal Conclusion and future work

Abilities network

position currentPos plan goal plan dtm lastPos lastTime isEmpty control track v w

runtime runtime

Run-time support

Nameserver function Gives the list of running abilities Monitors the status of each ability

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 10 / 20

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Plan Context Our proposal Conclusion and future work

Abilities network

position currentPos plan goal plan dtm lastPos lastTime isEmpty control track v w

runtime

goal = {X, y} t r a c k = p l a n . p l a n

Control flow

Asynchronous protocol Ends with

OK message FAILURE message KILLED message

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 10 / 20

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Plan Context Our proposal Conclusion and future work

Abilities network

position currentPos plan goal plan dtm lastPos lastTime isEmpty control track v w

runtime

p

i t i

. c u r r e n t P

Data flow

1 Fed using an asynchronous

request / reply

2 Future update uses a publisher /

subscriber interface

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 10 / 20

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Plan Context Our proposal Conclusion and future work

Tasks and recipes Tasks

Define how to pass from a symbolic state to another one Mainly defined by their pre and post-condition

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 11 / 20

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Plan Context Our proposal Conclusion and future work

Tasks and recipes Tasks

Define how to pass from a symbolic state to another one Mainly defined by their pre and post-condition

Recipes

Implement different strategies for one task

Recover from local error Use different strategies for the same task

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 11 / 20

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Plan Context Our proposal Conclusion and future work

Pre / Post-condition description Pre / Post-condition

Boole logic formula of clauses Clauses are comparison or function application on variables and constants

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 12 / 20

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Plan Context Our proposal Conclusion and future work

Pre / Post-condition description Pre / Post-condition

Boole logic formula of clauses Clauses are comparison or function application on variables and constants

* (size < 42) * (pos :: distance(pos :: curentPosition , planning :: goal) < threshold) Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 12 / 20

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Plan Context Our proposal Conclusion and future work

Recipe definition Recipe definition

make < constraint > : constrain a remote ability (one-shot) ensure < constraint > : constraint a remote ability (continuous) wait < condition > : wait until the condition is true classical loop and branch mechanisms

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 13 / 20

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Plan Context Our proposal Conclusion and future work

Recipe definition Recipe definition

make < constraint > : constrain a remote ability (one-shot) ensure < constraint > : constraint a remote ability (continuous) wait < condition > : wait until the condition is true classical loop and branch mechanisms More work is required to define a clear semantic

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 13 / 20

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Plan Context Our proposal Conclusion and future work

Recipe definition Recipe definition

make < constraint > : constrain a remote ability (one-shot) ensure < constraint > : constraint a remote ability (continuous) wait < condition > : wait until the condition is true classical loop and branch mechanisms More work is required to define a clear semantic

3 DPath_handle_failure = recipe { Pre = {{ 3 DPathFailure == true }} Body = { /* Get some new information */ make ( pos :: computeDistance (Dtm :: lastMerged , pos :: currentPostion ) == 0.0)) /* Restart the classic processing */ ensure ( pos :: computeDistance (Dtm :: lastMerged , Pos :: currentPosition ) < threshold) && 3DPath :: goal == currentGoal && Control :: tracker == 3DPath :: plan) wait(pos :: computeDistance (goal , Pos :: currentPosition ) < goalThreshold )) } } Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 13 / 20

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Plan Context Our proposal Conclusion and future work

Overview of ability and task implementation

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 14 / 20

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Plan Context Our proposal Conclusion and future work

Overview of ability and task implementation

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 14 / 20

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Plan Context Our proposal Conclusion and future work

Logic engine Goal

Find a set of tasks to achieve new constraints

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 15 / 20

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Plan Context Our proposal Conclusion and future work

Logic engine Goal

Find a set of tasks to achieve new constraints

When

When receiving new constraints from outside to recover from a task 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 15 / 20

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Plan Context Our proposal Conclusion and future work

Logic engine Goal

Find a set of tasks to achieve new constraints

When

When receiving new constraints from outside to recover from a task failure

How

1 Rules selection on variable type Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 15 / 20

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Plan Context Our proposal Conclusion and future work

Logic engine Goal

Find a set of tasks to achieve new constraints

When

When receiving new constraints from outside to recover from a task failure

How

1 Rules selection on variable type 2 Classical unification / rules selection / backtracking Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 15 / 20

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Plan Context Our proposal Conclusion and future work

Logic engine Goal

Find a set of tasks to achieve new constraints

When

When receiving new constraints from outside to recover from a task failure

How

1 Rules selection on variable type 2 Classical unification / rules selection / backtracking 3 Heuristic used on the base of:

number of pre-condition not fulfilled number of tasks involved number of tasks ”not runnable”

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 15 / 20

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Plan Context Our proposal Conclusion and future work

Transaction manager Goal

1 Handle lazily complex constraints 2 Handle switch between recipes Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 16 / 20

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Plan Context Our proposal Conclusion and future work

Transaction manager Goal

1 Handle lazily complex constraints 2 Handle switch between recipes

Handling complex constraints

Register each constraints When receiving part of answer, reduce the global expression Terminate when expression is reduced to true or false

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 16 / 20

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Plan Context Our proposal Conclusion and future work

Transaction manager Goal

1 Handle lazily complex constraints 2 Handle switch between recipes

Handling complex constraints

Register each constraints When receiving part of answer, reduce the global expression Terminate when expression is reduced to true or false

Recipes switch

Recipes classification Cleaning task context or handling it transparently ?

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 16 / 20

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Plan Context Our proposal Conclusion and future work

Illustration

pos pos ctrl ctrl dtm plan im3d img map2d laser plan2d Goto (X, Y )

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 17 / 20

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Plan Context Our proposal Conclusion and future work

Illustration

pos ctrl dtm plan im3d img map2d laser plan2d map2d laser plan2d Using laser strategy

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 17 / 20

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Plan Context Our proposal Conclusion and future work

Illustration

pos ctrl dtm plan im3d img map2d laser plan2d map2d laser plan2d Laser fails ⇒ another recipe ?

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 17 / 20

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Plan Context Our proposal Conclusion and future work

Illustration

pos ctrl dtm plan im3d img map2d laser plan2d map2d laser plan2d No other recipe ⇒ Another task set ?

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 17 / 20

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Plan Context Our proposal Conclusion and future work

Illustration

pos ctrl dtm plan im3d img map2d laser plan2d map2d plan2d Map2d fails due to laser failure ⇒ another recipe ?

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 17 / 20

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Plan Context Our proposal Conclusion and future work

Illustration

pos ctrl dtm plan im3d img map2d laser plan2d map2d plan2d No other recipe ⇒ Another task set ?

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 17 / 20

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Plan Context Our proposal Conclusion and future work

Illustration

pos pos ctrl dtm plan im3d img map2d laser plan2d plan2d position fails due to map2d failure ⇒ another recipe ?

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 17 / 20

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Plan Context Our proposal Conclusion and future work

Illustration

pos ctrl ctrl dtm plan im3d img map2d laser plan2d Will use vision strategy

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 17 / 20

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Plan Context Our proposal Conclusion and future work

Illustration

pos ctrl dtm plan im3d img dtm plan im3d img map2d laser plan2d Vision strategy is running

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 17 / 20

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Plan Context Our proposal Conclusion and future work

Presentation Plan

1

Context

2

Our proposal

3

Conclusion and future work

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 17 / 20

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Plan Context Our proposal Conclusion and future work

Conclusion Requirements

Reactive to external event, ”adaptable” :

logic engine

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 18 / 20

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Plan Context Our proposal Conclusion and future work

Conclusion Requirements

Reactive to external event, ”adaptable” :

logic engine

Robust to single component failure :

Separate process, run-time support

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 18 / 20

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Plan Context Our proposal Conclusion and future work

Conclusion Requirements

Reactive to external event, ”adaptable” :

logic engine

Robust to single component failure :

Separate process, run-time support

Generic, modular, extensible :

Decomposition on information, decomposition on different layer

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 18 / 20

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Plan Context Our proposal Conclusion and future work

Conclusion Requirements

Reactive to external event, ”adaptable” :

logic engine

Robust to single component failure :

Separate process, run-time support

Generic, modular, extensible :

Decomposition on information, decomposition on different layer

Verifiable, ”provable”

To Be Done :D

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 18 / 20

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Plan Context Our proposal Conclusion and future work

Inspiration Various programming languages

Erlang (concurrency) Datalog / Prolog (logic) Oz / Mozart, Alice ( functional / concurrent / logic )

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 19 / 20

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Plan Context Our proposal Conclusion and future work

Inspiration Various programming languages

Erlang (concurrency) Datalog / Prolog (logic) Oz / Mozart, Alice ( functional / concurrent / logic )

Processes algebras

CSP (Communicating Sequential Process) CCP (Concurrent Constraint Programming) TCCP and UTCCP (Temporal Concurrent Constraint Programming)

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 19 / 20

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Plan Context Our proposal Conclusion and future work

Future work

Implement completely the proposed solution, and test it on a real robot

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 20 / 20

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Plan Context Our proposal Conclusion and future work

Future work

Implement completely the proposed solution, and test it on a real robot Improve the formalism : make some link with classic processes algebra like CSP, CCP or more recently UTCC

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 20 / 20

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Plan Context Our proposal Conclusion and future work

Future work

Implement completely the proposed solution, and test it on a real robot Improve the formalism : make some link with classic processes algebra like CSP, CCP or more recently UTCC Enhance the framework to deal with multi-robot problematic

Arnaud Degroote, Simon Lacroix adegroot@laas.fr, simon@laas.fr () Structuring processes into abilities : an information-oriented architecture for autonomous rob May 19, 2010 20 / 20