BDI for Autonomous Mobile Robot Navigation

Gavigan, Patrick; Esfandiari, Babak

doi:10.1007/978-3-030-97457-2_8

Cited by 3 publications

(7 citation statements)

References 14 publications

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“…• Digital twin models in Cyber-Physical Manufacturing Systems (CPMS) [73], [74] • Analog Twin (AT) Framework for Human and AI Supervisory Control [75] • Experimentation in a remote laboratory setting [76] • Multi-robot localization and mapping [23], [77], [78] • Learning from observation [25] • Mobile manipulator positioning for object pick-up [26] • Navigation and obstacle avoidance [35], [36], [79]- [85] • Autonomous exploration in indoor environments [30], [86]- [88] • Immersive telepresence [89] • The specific application was not mentioned [27]- [29], [32], [53], [90]-[95] Healthcare…”

Section: Researchmentioning

confidence: 99%

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Kargar,

Yordanov,

Harvey

et al. 2024

IEEE Access

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Simulation plays a pivotal role in providing safely reproducible scenarios to evaluate the ever-advancing domain of computer science and robotics. It was an essential part of the pandemic when no access to physical spaces was available. The advent of AI-powered platforms in conjunction with enhanced graphics, physics and other sensory engines attracts a new breed of interdisciplinary researchers to enter the robotic field, most notably from computer science, engineering and social sciences. Integration of ROS as a uniform middleware to deploy achieved outcomes in real practice provides an opportunity to move one step closer to the sim-to-real experiences that enables researchers to test ideas beyond the close laboratory spaces. There is a lack of comprehensive evaluation of ROS-enabled simulators, and the integration of advanced AI techniques for realistic scenario replication. This paper addresses this challenge by evaluating ROSenabled simulators in the design and implementation of AI techniques through an in-depth systematic literature review (SLR). This SLR is guided by the research and commercial market demands, employing Population, Intervention, Comparison, Outcome, and Context (PICOC) and Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) frameworks with a major focus on Wheeled Mobile Robots (WMRs). We also highlight the increasing importance of game engines like Unity and Unreal in future of robotic simulations, especially under modelling close to real experiences. By comparing simulation platform features and capabilities, this paper offers guidance to developers and researchers, enabling them to select the most suitable platform for their projects efficiently that contradicts the commonly in use "one size fits all" approach. Finally, based on the thorough insights from the review, we identify and suggest some key future research directions in AI-enhanced realistic robotic simulations.

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Section: Researchmentioning

confidence: 99%

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Kargar,

Yordanov,

Harvey

et al. 2024

IEEE Access

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show abstract

“…This work was presented to Agents and Robots for reliable Engineered Autonomy (AREA) 2020 [18] and then extended in a special issue journal [19]. For EMAS 2021, the work focused on the navigation aspects of mobile robots using BDI [8]. It provided a generic navigation plan which generates a route to the robot's destination in the form of a plan that can be monitored, suspended, and resumed by the reasoner as needed.…”

Section: Contributions and Publicationsmentioning

confidence: 99%

“…The Agent in a Box provides this behaviour in a navigation framework-in-aframework. This navigation sub-framework includes the generation of the route as a plan as well as how the map is defined [8].…”

Section: Navigationmentioning

confidence: 99%

“…This take the form of h(CurrentState,Goal,H) [8]. The fourth and final parameter is a set of plans for how the agent should achieve the !waypoint( ) goal in the specific application domain.…”

Section: Agentspeak Navigation Modulementioning

confidence: 99%

“…This work was extended for a special issue journal [19]. The navigation aspects of mobile robots using BDI were discussed in a subsequent publication [8]. This publication included a mechanism for the agent to generate a route as a set of achievement goals at run-time.…”

Section: Key Accomplishmentsmentioning

confidence: 99%

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Agent in a Box: A Framework for Autonomous Mobile Robots with Beliefs, Desires, and Intentions

Gavigan¹

Self Cite

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This thesis investigates the use of Beliefs-Desires-Intentions (BDI) for controlling autonomous mobile robots. Autonomous systems should ideally be designed for flexibility so that they can intelligently react to ever-changing environments and operational conditions. If they are given such flexibility, they can accept goals and set a path to achieve these goals in a self-responsible manner while displaying some form of intelligence. Developers of autonomous mobile robotics are interested in how to program mobile robots while guaranteeing reliability and resilience.In investigating the use of BDI for controlling autonomous mobile robots, the Agent in a Box framework was developed. This framework includes a general architecture for connecting a Jason agent to the environment using Robot Operating System (ROS). This connection is done in a way that is flexible to a variety of application domains that use different sensors and actuators.The Agent in a Box provides the needed customization to the agent's reasoner to ensure that the agent's behaviours are properly prioritized. Generic plans for behaviours that are common to a variety of mobile robots are also provided. These include plans for resource management and for navigation, which generates a route to a destination in the form of a plan which can be monitored and interrupted by the reasoner if needed. These components allow developers, for specific application domains, to focus on domain-specific code. Agents implemented using the Agent in a Box are rational, mission capable, safety conscious, fuel autonomous, and understandable.The Agent in a Box was used to demonstrate the capability of BDI agents to control robots in a variety of application domains through a set of case studies: a grid environment, a simulated autonomous car, and a prototype mail delivery robot. These case studies demonstrated that the agent was able to successfully control the robots in all of the application domains tested, including when it was run on a Raspberry Pi computer. By implementing the robots with the Agent in a Box, the development burden was reduced because the framework provided generic behaviours that could be used by each of the agents. The Agent in a Box was also found to enforce good software engineering practices, resulting in a noticeable improvement in runtime performance compared to other approaches that did not use the Agent in a Box. iv v Acknowledgements I would like to thank my supervisor, Babak Esfandiari, and the members of my evaluation committee for their time, effort, support, and advice. • • •Thank you to my family, especially to my wife Catharina and my parents Jacqueline and Neil for all of the help and support. To my daughters, Gemma and Maeve, who were both born while I was working on this degree, thank you for being small and adorable, even if you did not make my progress on this thesis go any faster. • • •I would also like to thank a number of colleagues who have provided help along the way.

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Multi-Robot Support System for Fighting Wildfires in Challenging Environments: System Design and Field Test Report

Frering,

Koefler,

Huber

et al. 2023

2023 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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BDI for Autonomous Mobile Robot Navigation

Cited by 3 publications

References 14 publications

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Emerging Trends in Realistic Robotic Simulations: A Comprehensive Systematic Literature Review

Agent in a Box: A Framework for Autonomous Mobile Robots with Beliefs, Desires, and Intentions

Multi-Robot Support System for Fighting Wildfires in Challenging Environments: System Design and Field Test Report

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