Abstract
This paper presents four requirements for BDI-based agent programming languages to facilitate the implementation of autonomous robot control systems. The first requirement is to support the integration of these languages with robotic frameworks. The second requirement is real-time reaction and response to events. The real-time reactivity problem in the BDI architecture is discussed and a distributed BDI architecture is proposed to approach this problem. The third requirement is to extend the BDI architecture with sensory management components for the management of sensory events and detecting complex events. The fourth requirement is the representation of complex plans and the coordination of the parallel execution of plans. These requirements are derived from an extensive survey of current autonomous robot programming tools and architectures and a study of a home-care application scenario for the NAO robot.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Rao, A.S.: AgentSpeak(L): BDI agents speak out in a logical computable language. In: Van de Velde, W., Perram, J.W. (eds.) MAAMAW 1996. LNCS (LNAI), vol. 1038, pp. 42–55. Springer, Heidelberg (1996)
Bohren, J., Cousins, S.: The SMACH high-level executive. Robotics and Automation Magazine (2010)
Bollini, M., et al.: Bakebot: Baking cookies with the pr2. In: The PR2 Workshop: Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform, IROS (2011)
Bordini, R., Braubach, L., Dastani, M., Fallah, A.E., Gomez-Sanz, J., Leite, J., O’Hare, G., Pokahr, A., Ricci, A.: A survey of programming languages and platforms for multi-agent systems. Informatica 30, 33–44 (2006)
Bordini, R.H., Hübner, J.F., Wooldridge, M.: Programming Multi-agent Systems in AgentSpeak Using Jason. Wiley Series in Agent Technology (2007)
Brooks, R.A.: Intelligence Without Representation. Artificial Intelligence 47, 139–159 (1991)
Buford, J., Jakobson, G., Lewis, L.: Extending BDI Multi-Agent Systems with Situation Management. In: The Ninth International Conference on Information Fusion, Florence, Italy (2006)
Cap, M., Dastani, M., Harbers, M.: Belief/Goal Sharing Modules for BDI Languages. In: Proceedings of CSSE 2011, pp. 87–94 (2011)
Cugola, G., Margara, A.: Processing Flows of Information: From Data Stream to Complex Event Processing. ACM Computing Surveys Journal (2011)
Dastani, M.: 2APL: a practical agent programming language. Autonomous Agents and Multi-Agent Systems 16(3), 214–248 (2008) ISSN:1387-2532
Freed, M.: Managing Multiple Tasks in Complex, Dynamic Environments. In: Proceedings of the National Conference on Artificial Intelligence, Madison, WI (1998)
Gat, E.: On Three-Layer Architectures, Artificial Intelligence and Mobile Robots. MIT Press (1998)
Georgeff, M.P., Lansky, A.L.: Reactive reasoning and planning. In: Proceedings of the Sixth National Conference on Artificial Intelligence (AAAI 1987), Seattle, WA, pp. 677–682 (1987)
Heintz, F., Kvarnstrom, J., Doherty, P.: Bridging the sense-reasoning gap: DyKnow-stream-based middleware for knowledge processing. Journal of Advanced Engineering Informatics 24(1), 14–25 (2010)
Hindriks, K.V.: Modules as Policy-Based Intentions: Modular Agent Programming in GOAL. In: Dastani, M., El Fallah Seghrouchni, A., Ricci, A., Winikoff, M. (eds.) ProMAS 2007. LNCS (LNAI), vol. 4908, pp. 156–171. Springer, Heidelberg (2008)
Inigo-Blasco, P., et al.: Robotics software frameworks for multi-agent robotic systems development. Robotics and Autonomous Systems (2012), doi:10.1016/j.robot.2012.02.004
Ingrand, F., Lacroix, S., Lemai-Chenevier, S., Py, F.: Decisional Autonomy of Planetary Rovers. Journal of Field Robotics 24(7), 559–580 (2007)
Ingrand, F.F., Coutance, V.: Real-Time Reasoning using Procedural Reasoning. Technical Report 93-104, LAAS/CNRS, Toulouse, France (1993)
Kramer, J., Scheutz, M.: Development environments for autonomous mobile robots: A survey. Autonomous Robots 22(2), 101–132 (2007)
Verbeek, M.: 3APL as programming language for cognitive robots. Master’s thesis, ICS, Utrecht University (2002)
Bratman, M.: Intentions, Plans, and Practical Reason. Harvard University Press (1987) 24, 113, 144
Estlin, T., et al.: Decision-Making in a Robotic Architecture for Autonomy. In: Proceedings of the International Symposium on AI, Robotics and Automation for Space, Montreal, Canada (2001)
Kertesz, C.: Dynamic behavior network. In: IEEE 10th International Symposium on Applied Machine Intelligence and Informatics (SAMI), pp. 207–212 (2012)
Lopez, J., Perez, D., Zalama, E.: A framework for building mobile single and multi-robot applications. Robotics and Autonomous Systems 59(3-4), 151–162 (2011)
Myers, K.L.: A procedural knowledge approach to task-level control. In: Proceedings of the Third International Conference on AI Planning Systems. AAAI Press (1996)
Nilsson, N.J.: Shakey the robot. Technical Report 323, AI Center, SRI International,333 Ravenswood Ave., Menlo Park, CA 94025 (April 1984)
Passama, R., Andreu, D.: ContrACT: a software environment for developing control architecture. In: 6th National Conference on Control Architectures of Robots, p. 16 (2011)
Proetzsch, M., Luksch, T., Berns, K.: Development of complex robotic systems using the behavior-based control architecture iB2C. Robot. Auton. Syst. 58(1), 46–67 (2010)
Rao, A., Georgeff, M.: Modeling rational agents within a BDI architecture. In: Proceedings of Second International Conference on Knowledge Representation and Reasoning (KR 1991), pp. 473–484. Morgan Kaufmann (1991)
Rao, A., Georgeff, M.: BDI Agents: From Theory to Practice. In: Proceedings of the First International Conference on Multi-Agent Systems (ICMAS 1995), pp. 312–319 (June 1995)
Ranathunga, S., et al.: Identifying events taking place in second life virtual environments. Applied Artificial Intelligence: An International Journal 26(1-2), 137–181 (2012)
Rajan, K., Py, F., McGann, C., Ryan, J., O’Reilly, T., Maughan, T., Roman, B.: Onboard Adaptive Control of AUVs using Automated Planning and Execution. In: Intnl. Symposium on Unmanned Untethered Submersible Technology (UUST), Durham, NH (August 2009)
Ross, R.J.: MARC - Applying Multi-Agent Systems to Service Robot Control, MSc Thesis, University College Dublin (2003)
Quigley, M., et al.: Ros: an open source roboting system. In: ICRA Workshop on Open Source Software (2009)
Steck, A., Schlegel, C.: SmartTCL: An Execution Language for Conditional Reactive Task Execution in a Three Layer Architecture for Service Robots. In: Int. Workshop on DYnamic languages for RObotic and Sensors systems (DYROS/SIMPAR), Germany, pp. 274–277 (2010)
Simmons, R., Apfelbaum, D.: A Task Description Language for Robot Control. In: IROS (1998)
Verma, V., Jonsson, A., Pasareanu, C., Simmons, R., Tso, K.: Plan Execution Interchange Language (PLEXIL) for Executable Plans and Command Sequences. In: Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) (2005)
Verma, V., Jonsson, A., Simmons, R., Estlin, T., Levinson, R.: Survey of command execution systems for NASA spacecraft and robots. In: Plan Execution: A Reality Check Workshop at the International Conference on Automated Planning and Scheduling (ICAPS) (2005)
Vikhorev, K., Alechina, N., Logan, B.: Agent programming with priorities and deadlines. In: Proceedings of the Tenth International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2011), Taipei, Taiwan, pp. 397–404 (May 2011)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Ziafati, P., Dastani, M., Meyer, JJ., van der Torre, L. (2013). Agent Programming Languages Requirements for Programming Autonomous Robots. In: Dastani, M., Hübner, J.F., Logan, B. (eds) Programming Multi-Agent Systems. ProMAS 2012. Lecture Notes in Computer Science(), vol 7837. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38700-5_3
Download citation
DOI: https://doi.org/10.1007/978-3-642-38700-5_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-38699-2
Online ISBN: 978-3-642-38700-5
eBook Packages: Computer ScienceComputer Science (R0)