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Proceedings Paper

Common world model for unmanned systems: Phase 2
Author(s): Robert Michael S. Dean; Jean Oh; Jerry Vinokurov
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Paper Abstract

The Robotics Collaborative Technology Alliance (RCTA) seeks to provide adaptive robot capabilities which move beyond traditional metric algorithms to include cognitive capabilities. Key to this effort is the Common World Model, which moves beyond the state-of-the-art by representing the world using semantic and symbolic as well as metric information. It joins these layers of information to define objects in the world. These objects may be reasoned upon jointly using traditional geometric, symbolic cognitive algorithms and new computational nodes formed by the combination of these disciplines to address Symbol Grounding and Uncertainty. The Common World Model must understand how these objects relate to each other. It includes the concept of Self-Information about the robot. By encoding current capability, component status, task execution state, and their histories we track information which enables the robot to reason and adapt its performance using Meta-Cognition and Machine Learning principles. The world model also includes models of how entities in the environment behave which enable prediction of future world states. To manage complexity, we have adopted a phased implementation approach. Phase 1, published in these proceedings in 2013 [1], presented the approach for linking metric with symbolic information and interfaces for traditional planners and cognitive reasoning. Here we discuss the design of “Phase 2” of this world model, which extends the Phase 1 design API, data structures, and reviews the use of the Common World Model as part of a semantic navigation use case.

Paper Details

Date Published: 3 June 2014
PDF: 8 pages
Proc. SPIE 9084, Unmanned Systems Technology XVI, 90840I (3 June 2014); doi: 10.1117/12.2050380
Show Author Affiliations
Robert Michael S. Dean, General Dynamics Land Systems (United States)
Jean Oh, National Robotics Engineering Ctr. (United States)
Jerry Vinokurov, Carnegie Mellon Univ. (United States)

Published in SPIE Proceedings Vol. 9084:
Unmanned Systems Technology XVI
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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