Toward Campus Mail Delivery Using BDI

Onyedinma, Chidiebere; Gavigan, Patrick; Esfandiari, Babak

doi:10.4204/eptcs.319.10

Cited by 3 publications

(8 citation statements)

References 12 publications

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“…In [10,11], Jason is linked with ROS through their SAVI ROS BDI architecture. This architecture is implemented in Java (using the rosjava package, and as such has the same disadvantage present in [8]) and mainly introduces a state synchronisation module that acts as a mediator between ROS and Jason by managing perceptions, incoming and outgoing messages, and actions being sent by the agent.…”

Section: Multi-agent Programmingmentioning

confidence: 99%

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Agents and Robots for Reliable Engineered Autonomy:A Perspective from the Organisers of AREA 2020

Cardoso

Ferrando

Briola

et al. 2021

JSAN

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Multi-agent systems, robotics and software engineering are large and active research areas with many applications in academia and industry. The First Workshop on Agents and Robots for reliable Engineered Autonomy (AREA), organised the first time in 2020, aims at encouraging cross-disciplinary collaborations and exchange of ideas among researchers working in these research areas. This paper presents a perspective of the organisers that aims at highlighting the latest research trends, future directions, challenges, and open problems. It also includes feedback from the discussions held during the AREA workshop. The goal of this perspective is to provide a high-level view of current research trends for researchers that aim at working in the intersection of these research areas.

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Section: Multi-agent Programmingmentioning

confidence: 99%

“…The problem definition defines the objects of the problem instance, its initial state, and the goal. In [10], the authors use the Jason language to express the requirements of the MAS application. Jason is an agent-oriented programming language based on the BDI software model.…”

Section: Domain-specific Languagesmentioning

confidence: 99%

Agents and Robots for Reliable Engineered Autonomy:A Perspective from the Organisers of AREA 2020

Cardoso

Ferrando

Briola

et al. 2021

JSAN

View full text Add to dashboard Cite

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“…[17] uses Jason to control Unmanned Aerial Vehicle (UAV)s, while [18] controls unmanned ground vehicles with Jason. We also see that [19] describes using Jason to drive a robot to deliver mail, using Robot Operating System (ROS). We will look at this project in more depth in chapter 7, as we use it as a case study to compare with our theoretical model.…”

Section: Projects Currently Using Jasonmentioning

confidence: 99%

“…The first agent we will look at comes bundled with Jason as an example agent: The Domestic Robot [21]. We will then look at a grid world agent [23], and finally, a mail delivery robot [19,24] which uses the ROS software package to drive the hardware, and a Jason agent as the brain. We will first analyze the Jason agents to determine how many beliefs, belief rules, percepts and plans are present.…”

Section: Case Studiesmentioning

confidence: 99%

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Performance Analysis of the Jason Reasoning Cycle

Miller¹

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Jason is a popular interpreter of AgentSpeak(L) that provides an environment to develop and run autonomous agents. We are interested in determining if Jason can be used to develop autonomous robots that can be run on modern hardware. To this end, we determined the time complexity of each of the ten steps of the Jason reasoning cycle and used that complexity to help us identify what parameters could be changed to have the biggest effect on the execution time of the reasoning cycle.We also generate a model to predict future performance. We validate this model using three different case studies, comparing the predicted execution times to those we measure. We find that our developed model consistently predicted an execution time one order of magnitude higher than the measured execution time for each case study.We further find that, using modern hardware, Jason provides a suitable environment for autonomous robots. i I would like to first and foremost sincerely thank my thesis supervisor, Professor Babak Esfandiari. He has given me the latitude to pursue this research in the direction I desired, while providing extremely insightful suggestions and questions to ensure I didn't get lost along the way. Special thanks to Patrick Gavigan, who was instrumental in collecting data from hardware that I didn't have access to. I also wish to express my deep gratitude to my wife, Annie St-Amour, who has supported me every step of the way. Annie, your belief in me kept me going when I didn't think I could. Finally, thank you to my sponsors. We acknowledge the support of the Natural Sciences and Engineering Research Council of Canada (NSERC) and Four DRobotics. Nous remercions le Conseil de recherches en sciences naturelles et en génie du Canada (CRSNG) ainsi que Four DRobotics de leur soutien.

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

Gavigan¹

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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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Toward Campus Mail Delivery Using BDI

Cited by 3 publications

References 12 publications

Agents and Robots for Reliable Engineered Autonomy:A Perspective from the Organisers of AREA 2020

Agents and Robots for Reliable Engineered Autonomy:A Perspective from the Organisers of AREA 2020

Performance Analysis of the Jason Reasoning Cycle

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

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