An Architecture for Structured, Concurrent, Real-Time Action
Leon Rubin Barrett
EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2010-58
May 11, 2010
http://www.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-58.pdf
I present a computational architecture designed to capture certain properties essential to actions, including compositionality, concurrency, quick reactions, and resilience in the face of unexpected events. It uses a structured internal state model and complex inference about the environment to inform decision-making. The properties above are achieved by combining interacting procedural and probabilistic representations, so that the structure of actions is captured by Petri Nets, which are informed by, and affect, a model of the world represented as a Probabilistic Relational Model. I give both a theoretical analysis of the architecture and a demonstration of its use in a simulated robotic environment.
Advisor: Jerome A. Feldman
BibTeX citation:
@phdthesis{Barrett:EECS-2010-58,
Author = {Barrett, Leon Rubin},
Title = {An Architecture for Structured, Concurrent, Real-Time Action},
School = {EECS Department, University of California, Berkeley},
Year = {2010},
Month = {May},
URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-58.html},
Number = {UCB/EECS-2010-58},
Abstract = {I present a computational architecture designed to capture certain properties essential to actions, including compositionality, concurrency, quick reactions, and resilience in the face of unexpected events. It uses a structured internal state model and complex inference about the environment to inform decision-making. The properties above are achieved by combining interacting procedural and probabilistic representations, so that the structure of actions is captured by Petri Nets, which are informed by, and affect, a model of the world represented as a Probabilistic Relational Model. I give both a theoretical analysis of the architecture and a demonstration of its use in a simulated robotic environment.}
}
EndNote citation:
%0 Thesis %A Barrett, Leon Rubin %T An Architecture for Structured, Concurrent, Real-Time Action %I EECS Department, University of California, Berkeley %D 2010 %8 May 11 %@ UCB/EECS-2010-58 %U http://www.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-58.html %F Barrett:EECS-2010-58