Using Model-Based Diagnosis to Build Hypotheses about Spatial Environments: A Response to a Technical Challenge

We present a method to build a hypothesis on the condition of the environment in which a robotic multi-agent team moves. Initially the robots have a default assumption about the conditions of the floor and on how moving under these condition works. For certain parts of the environment however, the default assumption may be wrong and moving around does not work in the expected way. Now the robotic team builds a hypothesis on the conditions of the yet unvisited part of the environment in a way similar to computing a diagnosis for electrical circuits. Resources can be saved by avoiding areas that possibly also contain obstacles.

[1]  Peter Baumgartner,et al.  Model Elimination with Simplification and its Application to Software Verification , 1998, Tool Support for System Specification, Development and Verification.

[2]  Jürgen Ebert,et al.  A Formalization of SOCCA , 1999 .

[3]  Peter Baumgartner,et al.  Automated Deduction Techniques for the Management of Personalized Documents , 2003, Annals of Mathematics and Artificial Intelligence.

[4]  Lutz Priese,et al.  A Fast Hybrid Color Segmentation Method , 1993, DAGM-Symposium.

[5]  Dieter Fensel,et al.  Assumptions in Model-Based Diagnosis , 1996 .

[6]  Peter Baumgartner,et al.  The Model Evolution Calculus , 2003, CADE.

[7]  Norbert Eisinger,et al.  A Confluent Connection Calculus , 2000, Intellectics and Computational Logic.

[8]  Jan Murray.  Specifying agents with UML in robotic soccer , 2002, AAMAS '02.

[9]  Raymond Reiter,et al.  A Theory of Diagnosis from First Principles , 1986, Artif. Intell..

[10]  Raymond Reiter.  A theory of diagnosis from first principles , 1986 .

[11]  Jens Woch,et al.  Implementation of a Schema-TAG-Parser , 1999 .

[12]  Stephan Philippi,et al.  Modelling a concurrent ray-tracing algorithm using object-oriented Petri-Nets , 2001 .

[13]  Jürgen Dix,et al.  Super logic programs , 2000, TOCL.

[14]  Kurt Lautenbach,et al.  Reproducibility of the Empty Marking , 2002, ICATPN.

[15]  Ulrich Furbach,et al.  Nonmonotonic Reasoning: Towards Efficient Calculi and Implementations , 2001, Handbook of Automated Reasoning.

[16]  Margret Groß-Hardt,et al.  Processing of Concept Based Queries for XML Data , 2002 .

[17]  Manfred Rosendahl,et al.  Specification of Symbols and Implementation of Their Constraints in JKogge , 2000 .

[18]  Pamela J. Fink,et al.  If at First You Don’t Succeed , 1993 .

[19]  Andy Schürr,et al.  GXL: toward a standard exchange format , 2000, Proceedings Seventh Working Conference on Reverse Engineering.

[20]  Jürgen Dix,et al.  Relating defeasible and normal logic programming through transformation properties , 2000, Theor. Comput. Sci..

[21]  Peter Baumgartner,et al.  Semantically Guided Theorem Proving for Diagnosis Applications , 1997, IJCAI.

[22]  Frank Wolter,et al.  Semi-qualitative Reasoning about Distances: A Preliminary Report , 2000, JELIA.

[23]  Ulrich Furbach,et al.  Disjunctive Logic Program = Horn Program + Control Program , 1998, JELIA.

[24]  Frieder Stolzenburg,et al.  Loop-Detection in Hyper-Tableaux by Powerful Model Generation , 1999, J. Univers. Comput. Sci..

[25]  Jon Louis Bentley,et al.  Quad trees a data structure for retrieval on composite keys , 1974, Acta Informatica.

[26]  Peter Baumgartner,et al.  Living Book – Deduction, Slicing, and Interaction , 2004, Journal of Automated Reasoning.

[27]  Oliver Obst,et al.  Towards a Logical Approach for Soccer Agents Engineering , 2000, RoboCup.

[28]  Oliver Obst,et al.  Qualitative Velocity and Ball Interception , 2002, KI.

[29]  Reid G. Simmons,et al.  Robust execution monitoring for navigation plans , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[30]  Guillermo R. Simari,et al.  lntroducing generalized specificity in logic programming , 2000 .

[31]  Peter Baumgartner,et al.  The Taming of the (X)OR , 2000, Computational Logic.

[32]  Andreas Winter,et al.  Exchanging Graphs with GXL , 2001, GD.

[33]  Manfred Kamp.  Managing a multi-file, multi-language software repository for program comprehension tools: a generic approach , 1998, Proceedings. 6th International Workshop on Program Comprehension. IWPC'98 (Cat. No.98TB100242).

[34]  Volker Riediger,et al.  Folding: an approach to enable program understanding of preprocessed languages , 2001, Proceedings Eighth Working Conference on Reverse Engineering.

[35]  Jürgen Dix,et al.  Transformation-based bottom-up computation of the well-founded model , 1996, Theory and Practice of Logic Programming.

[36]  Marcello Balduccini,et al.  Logic Programming And Nonmonotonic Reasoning , 1997, Lecture Notes in Computer Science.

[37]  Evelina Lamma,et al.  AI*IA 99: Advances in Artificial Intelligence , 2000, Lecture Notes in Computer Science.

[38]  Toshiaki Arai,et al.  Multiagent systems specification by UML statecharts aiming at intelligent manufacturing , 2002, AAMAS '02.

[39]  Jürgen Ebert,et al.  Program comprehension in multi-language systems , 1998, Proceedings Fifth Working Conference on Reverse Engineering (Cat. No.98TB100261).

[40]  Oliver Obst,et al.  Spatial Agents Implemented in a Logical Expressible Language , 1999, RoboCup.

[41]  Milind Tambe,et al.  What Is Wrong With Us? Improving Robustness Through Social Diagnosis , 1998, AAAI/IAAI.

[42]  Joseph Douglas Horton,et al.  Merge Path Improvements for Minimal Model Hyper Tableaux , 1999, TABLEAUX.

[43]  J. Ebert,et al.  A Generalization of the Hyperspace Approach Using Meta-Models , 2003 .

[44]  Evelina Lamma,et al.  An Implementation for Abductive Logic Agents , 1999, AI*IA.

[45]  Andreas Winter,et al.  Querying as an enabling technology in software reengineering , 1999, Proceedings of the Third European Conference on Software Maintenance and Reengineering (Cat. No. PR00090).

[46]  Jürgen Ebert,et al.  GraX-an interchange format for reengineering tools , 1999, Sixth Working Conference on Reverse Engineering (Cat. No.PR00303).

[47]  Peter Lucas,et al.  Symbolic diagnosis and its formalisation , 1997, The Knowledge Engineering Review.

[48]  Peter Baumgartner,et al.  Hyper Tableaux , 1996, JELIA.

[49]  Andreas Winter,et al.  Towards a Common Query Language for Reverse Engineering , 2002 .

[50]  Margret Groß-Hardt,et al.  Concept based querying of semistructured data , 2002, XSW.

[51]  Peter Baumgartner,et al.  First-order logic Davis-Putnam-Logemann-Loveland procedure , 2003 .

[52]  Andreas Schmid,et al.  Solution for the Counting to Infinity Problem of Distance Vector Routing , 1998 .

[53]  Peter Baumgartner,et al.  Abductive Coreference by Model Construction , 1999 .

[54]  Ulrich Furbach,et al.  Model-Guided Proof Debugging , 1998 .

[55]  Victor W. Marek,et al.  The Logic Programming Paradigm , 1999, Artificial Intelligence.

[56]  Oliver Obst,et al.  Simulation League: The Next Generation , 2003, RoboCup.

[57]  Pietro Torasso,et al.  A spectrum of logical definitions of model‐based diagnosis 1 , 1991, Comput. Intell..