A model based monitoring system is to enhance both the operator situation awareness and the system safeness. Given a declarative representation of the temporal properties and the system causal, the flexible executive control is provided by a reactive planning engine which is to harmonize the operator activity such as tasks, commands, etc, with the mission goals and the reactive activity of the functional modules. Since the execution state of the robot is compare continuously with a declarative model of the system, all the main parallel activities are integrated a global view.
In order to get such a features it deploys high level agent programming in TCGolog (Temporal Concurrent Golog) which provides both a declarative language to represent the system properties and the planning engine to generate the control sequences.
Temporal Concurrent Situation Calculus, the SC (Situation Calculus) is a sorted first order language representing dynamic domains by means of situations, actions, e.g. sequences of actions, and fluent. TSCS (Temporal Concurrent Situation Calculus extends the SC with concurrent actions and time. Concurrent durative processes can be represented by fluent properties started and ended by duration less actions. For instance, the process going(p1,p2) is started by the action startGo(p1,t) and it is ended by endGo(p2,t’).
The main DORO processes and states are represented explicitly by a declarative dynamic temporal model specified in the Temporal Concurrent Situation Calculus. This model represents the cause effects relations and temporal constraint among the activities: the system is modeled as a set of component whose state changes over time. Each component is a concurrent thread, describing its history over time as a state sequence ago activities and states. For instance, in the rescue domain some components are: slam, navigation, pant-tilt, VisualPerception, etc. each of these associated with a set of processes, e.g. navigation can be nav_Wand (Wandering the arena), nav_GoTo (Navigate to reach given position) etc.
No comments:
Post a Comment