Showing papers by "Daniele Nardi published in 2001"

Reactivity and Deliberation: A Survey on Multi-Robot Systems

Abstract: Multi Robot Systems are, nowadays, an important research area within Robotics and Artificial Intelligence. Although Multi Robot Systems can be regarded as a particular case of Multi Agent Systems, it seems appropriate to study the Multi Robot Systems from a specific viewpoint, because of the issues which arise from the embodiment of agents operating in real environments. In this paper, we present an analysis of Multi Robot Systems by looking at their cooperative aspects. In particular, we propose a taxonomy of Multi Robot Systems and a characterization of reactive and social deliberative behaviors of the Multi Robot System as a whole. Finally, we address some Multi Robot Systems, which we consider representative of the various nodes in our taxonomy.

Data integration in data warehousing

Abstract: Information integration is one of the most important aspects of a Data Warehouse. When data passes from the sources of the application-oriented operational environment to the Data Warehouse, possible inconsistencies and redundancies should be resolved, so that the warehouse is able to provide an integrated and reconciled view of data of the organization. We describe a novel approach to data integration in Data Warehousing. Our approach is based on a conceptual representation of the Data Warehouse application domain, and follows the so-called local-as-view paradigm: both source and Data Warehouse relations are defined as views over the conceptual model. We propose a technique for declaratively specifying suitable reconciliation correspondences to be used in order to solve conflicts among data in different sources. The main goal of the method is to support the design of mediators that materialize the data in the Data Warehouse relations. Starting from the specification of one such relation as a query over the conceptual model, a rewriting algorithm reformulates the query in terms of both the source relations and the reconciliation correspondences, thus obtaining a correct specification of how to load the data in the materialized view.

Communication and Coordination Among Heterogeneous Mid-Size Players: ART99

Abstract: Distributed coordination among robotic soccer agents has been considered in the recent years within the framework offered by the RoboCup competitions, mostly in the simulation and F-180 leagues. In this paper we describe the methods and the results achieved in coordinating the players of the ART team participating in the F-2000 league. The team is formed by several heterogeneous robots having different mechanics, different sensors, different control software, and, in general, different abilities for playing soccer. The coordination framework we have developed has been successfully applied during the 1999 official competitions allowing both for a significant improvement of the overall team performance and for a complete interchangeability of all the robots.

A probabilistic approach to Hough localization

Abstract: Autonomous navigation for mobile robots performing complex tasks over long periods of time requires effective and robust self-localization techniques. We describe a probabilistic approach to self-localization that integrates Kalman filtering with map matching based on the Hough transform. Several systematic experiments for evaluating the approach have been performed both on a simulator and on soccer robots embedded in the RoboCup environment.

ART'00 - Azzurra Robot Team for the Year 2000

Abstract: Robotic soccer is a challenging research domain that can be used to explore new problems and test new techniques/solutions in the fields of Artificial Intelligence and Autonomous Robotics, as well as for training and educational purposes.

S.p.q.r

Abstract: The SPQR (Soccer Player Quadruped Robots, but also Senatus PopulusQue Romanus) team was a newcomer of the Sony Legged League in RoboCup 2000. The work started in April 2000, based on the previous experience gained in the Middle Size League [3] and on the collaboration of Artificial Intelligence and Robotics researchers of our Department. Due to the very short time to prepare the team for the competition, we decided to focus on the previously developed software architecture, based on the explicit representation of the knowledge of the robotic agent [1, 2] and on the effective realization of some control primitives, the kick in particular. Given the above constraints, the performance of the team in Melbourne was very satisfactory. In fact, SPQR classified fourth, winning games with more experienced teams, playing very tightly with the 99 winners in the semi-final, and generally showing a good level of play.

Case Studies in Cognitive Robotics

Abstract: Cognitive Robotics is concerned with the theory and implementation of embodied intelligent agents Cognitive Robotics poses a unique challenge to researchers: it deals in fact with manufacts that are inherently autonomous, situated in a not structured environment, and whose behavior is characterized by a cycle “Perception-Reasoning-Action” or “Sense-Plan-Act” (sometimes called SPA architectures) Of course this cycle has to be performed reliably, and in real time Sensing, planning and acting are difficult problems to be solved, per se Their integration within a single system poses additional challenges

Description Logic Formalization of CIM

Abstract: Common Information Model (CIM) has the goal of providing a suitable approach for modeling systems and networks using the object-oriented paradigm In this document we illustrate how to map CIM onto an expressive Description Logics, called DLRifd, so as to obtain a rigorous logical framework for representing and reasoning on managed systems The document is organized as follows We first give an overview of both CIM and the Description Logic DLRifd We then illustrate the formalization of CIM in terms of DLRifd Finally, we present an example of how such a formalization works, by showing how the CIM Core model and the CIM Common model is expressed in DLRifd