Seminar: Rule Control of Teleo-Reactive, Multi-tasking, Communicating Robotic Agents
Open to: Academic, Alumni, Public, Student Admission: Free Ticketing: Open
Title: Rule Control of Teleo-Reactive, Multi-tasking, Communicating Robotic Agents
by Keith Clark, Professor Emeritus, Imperial College London, UK
When: Nov 7, 2017, 14:00-15:00
Where: Graduate Centre GC101, Mile End campus, QMUL
Abstract: We describe a multi-threaded robotic agent architecture in which multiple compatible tasks, sharing one or more external robotic resources, can be executed concurrently without starvation, interference or deadlock. Each task progressively achieves sub-goals of the overall task goal. There is parallel use of disjoint sets of resources whenever possible. The agents are programmed in a rule based language TeleoR. The roots of TeleoR go back to the conditional action plans of the first cognitive robot, SRI’s Shakey. These lead to Nilsson’s Teleo-Reactive robotic agent language T-R. We introduce the use of TeleoR, and the multi-threaded agent architecture, with two robot control applications: 1) a multi-tasking agent controlling two independent robotic arms in multiple construction tasks (see https://www.doc.ic.ac.uk/~klc/20160127-LABCOT-HIx4.mp4); and 2) single task communicating agents, each separately controlling a track following robot, navigating it through open doorways to a destination room (see https://www.doc.ic.ac.uk/~klc/pathFollowers.mp4).
Bio: Keith Clark has first degrees in both Mathematics and Philosophy and a PhD in Computational Logic. He started teaching computer science at Queen Mary College, London in 1969. With a colleague Don Cowell he developed a new course on automata theory more suited to CS students, based on a novel approach proposed by Rabin and Scott. The course notes became a book, “Programs, Machines and Computation” published by McGraw-Hill in 1975. In 1975 he moved to Imperial College to join Kowalski in setting up the Logic Programming group, which became the Logic and AI section
of the Computing Department. He is now an Emeritus Professor in Computational Logic at Imperial, an Honorary Professor at UQ Brisbane and UNSW Sydney. This year he is also a Visiting Researcher at Stanford University. His research has covered: theoretical results in computational logic, design and implementation of new logic and hybrid logic programming languages, logic based concurrent programming languages and their implementation, multi-threaded symbolic languages for programming multi-agent systems, rule languages for programming multi-tasking communicating robotic agents. AI, agent and robotic applications of these languages. He has consulted for the Japanese Fifth Generation Project, Hewlett Packard, IBM, ICL, Fujitsu and two start-ups, one in Sweden and one in California.
Start Time: 14:00
End Time: 15:00
Graduate centre GC101