Perception, knowledge representation & reasoning

Perception, Knowledge Representation & Reasoning

CIS548

October 25, 2006

Pass back MidTerm

Review proofs

Review progress on projects

Report on Roombas

TSP & Limo

Versions of TSP

Asymmetric: A → B ≠ B → A

Unidirectional: $ (A → B); Ø $ (B → A)

Triangle inequality: m(A → C) ≤ m(A → B) + m(A → B)

Euclidean

Perception, Knowledge Representation & Reasoning

What is KR? (D-Sh-Sz):

http://groups.csail.mit.edu/medg/ftp/psz/k-rep.html

Surrogate

Ontological commitments

Theory of intel. reas.

Efficient computation

Human expression

KR & R intertwined

Expressiveness & tractability

Fundamental tradeoff – Brachman & Levesque

Expressiveness & tractability

http://www.inf.unibz.it/~franconi/dl/course/articles/BrachLev.pdf

http://www.csc.calpoly.edu/~fkurfess/Courses/581/S05/Slides/2-Knowledge-Processing.ppt

Perception (Parker: Oct. 3)

Early:

in isolation

king

universal reconstruction

Parker principle: “Perception without the context of action is meaningless.”

action-oriented

expectation-based

focus of attention

active

purpose-directed a motor control

need to know basis

perceptual classes – partition world

Comment: can lead to dangerous “short sightedness”

Tractability

Unconstrained a intractable

Task-directed visual search - linear-time complexity (Tsotsos 1989)

Primary purpose:

support particular behavioral needs

Compare: Mark Bickhard’s frog

http://www.lehigh.edu/~mhb0/vita.html

http://www.lehigh.edu/~mhb0/Mot.Cog.pdf

http://www.lehigh.edu/~mhb0/motemotion.html

http://courses.media.mit.edu/2004spring/mas966/Bickhard%201993.pdf

Others:

http://www.cs.umd.edu/~anderson/papers/CNA.pdf

http://www.kli.ac.at/personal/christensen/SelfDirected_agents.pdf

http://www.newcastle.edu.au/centre/casrg/publications/C&HfV10.pdf

http://hubcap.clemson.edu/~campber/topologies1996.pdf

Types of control:

closed loop

open loop

Terms

sensor

transducer

passive sensor

active sensor

active sensing

modalities

sound, pressure, temperature, light, infrared, x-rays, etc.

logical sensor:

unit of sensing or module that supplies a particular percept

sensor suite

sensor fusion

multiple sensor combinations

redundant

complimentary

coordinated

perceptual stimuli

proprioception

measurements of movement relative to the robot’s

internal frame of reference (also called dead reckoning)

exteroception

measurements of layout of the environment and objects

relative to robot’s frame of reference

exproprioception

measurement of the position of the robot body or parts

relative to the layout of the environment

physical attributes

computability attributes

desired attributes

simplicity

modularity

redundancy