Feb 2016 February Summary ongoing Dynamic teams Cogni

Feb 2016

February Summary (ongoing) Dynamic teams Cogni. Tao integration, dynamic plans Communication awareness Define algorithm for handling loss of communication Dynamic plan Generalization of robots’ abilities Consider logic conditions for next decision Robot BDI architecture

Mission Plan _reallocation _ok Blue- Team plan End of behaviors must be synchronized with rest of team Goto start position Grey- Robot plan Unknown to the rest of team _ok Navigate next waypoint _finish

Robot ROS components Battery Localization Blob detection Wifi Drive Map Navigate Wandering

Dynamic robot architecture Sensors Monitor Perception (beliefs) Actions (+Complex actions) Execution Localization Wandering Laser Camera GPS r io av eh B Events Blob Detection DMS KB Query Battery Behavior Detection Be ha vio r Map Obstacle Navigate

Behaviors Types Analysis Parallel process management (robot startup/listen)- control several sub-plans and their relations Dynamic plan (execute mission plan)- retrieve a plan expansion on the fly and run it One time action (connect/disconnect)- doing some code with no breakpoint ROS Service is a particular case which create a service client and request service Ongoing action- spin some code, can be interrupt by events/self decision/status ROS Node (monitor client)- monitor and control a node ROS Topic (listen to server)- listen to a topic and handle msg