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The vast majority of mobile robotic systems have been designed to solve “one off”, unique problems, with specialized sensors, robot hardware and computation; and porting robotics software from one platform to another has always been a thorny problem. In this paper, we show how by choosing an appropriate level of abstraction, one can write hardware-independent controllers for robots that perform complex...
All video will eventually become fully digital — there seems to be no way around it. Consequently, digital video databases will become more and more pervasive and finding video in large digital video databases will become a problem just like it is a problem today to find video in analog video databases. The digital form of the video, however, opens up tremendous possibilities. Just like it is possible...
This paper discusses experience in retrieving specific items from the WWW. The Intelligent Agents Laboratory at the University of Melbourne has spent the last two years building programs to autonomously retrieve items such as sports scores, university subject descriptions, and paper citations. A wide variety of Web resources have been used. The approach is knowledge-based in the spirit of expert systems,...
A recent constructive search technique called dynamic backtracking (DB) achieves a systematic and complete search while allowing significant movement in the search space. The algorithm constructs tuples of inconsistent variable assignments called nogoods. An important issue is managing the number of nogoods constructed and remembered (cached) during the search. The nogood caching scheme for DB limits...
We propose a new backtracking algorithm called constraint- directed backtracking (CDBT) for solving general constraint-satisfaction problems (CSPs). CDBT searches for an assignment to variables in a variable set from a given constraint posed on that variable set and appends it to an existing partial solution, in contrast with the naive backtracking (BT) which searches for an assignment of one variable...
Many real-world constraint satisfaction problems (CSPs) can be over-constrained or too large to solve using a standard constructive/ backtracking approach. Instead, faster heuristic techniques have been proposed that perform a partial search of all possible solutions using an iterative repair or hill-climbing approach. The main problem with such approaches is that they can become stuck in local minima...
We present a new use of mutual information as a similarity technique for the registration of images. Unlike prior work we find that no more than two resolutions are necessary to gain sub-pixel accuracy and that classical optimisation techniques such as gradient descent or Powell's minimisation are not appropriate. Our results show that mutual information combined with a low resolution simulated annealing...
We present an optical flow operator composed of a phase based point disparity measurement combined with a Kalman filter that integrates flow information across the scene to obtain two constraints on the optical flow. The point optical flow value is computed as the time derivative of phase divided by the space derivative. We maximize the efficiency of the algorithm by using causal filters that...
In this paper we present a restoration technique aimed at correcting image degradations by consideration of human visual criteria. A neural network model with an adaptive constraint factor is used. By considering local statistical information about regions within an image, the value of constraint factor can be selected which produces an optimal trade-off between noise suppression and edge preservation...
This paper concerns cooperation and dynamic team formation in multi-agent systems, where agents inform their activity by observing the world and by communicating with each other. We have developed a testbed where pursuer agents work in teams to catch individual targets. The experiments reported here explore the effect of some simple cooperative behaviors, the level of commitedness of agents to a team...
In this paper, we focus on the control problems related to the evaluation of a parallel rule-based systems (RBS), especially on the serializability and rules execution order issues. We express these problems in terms of a coordination problem between certain agents for a common decision-making, and for which we suggest a totally distributed solution using a focal points algorithm [4].
We present a formal framework based on the theory of game with incomplete information [5] for modelling the coordination and communication problem among team of collaborative agents, and define what it means by optimal communication in this setting. Although computing an optimal communication strategy for the team is hard in general, we illustrate with an example of collaborative negotiation and meeting...
Learning genetic representation has been shown to be a useful tool in evolutionary computation. It can reduce the time required to find solutions and it allows the search process to be biased towards more desirable solutions. Learning genetic representation involves the bottom-up creation of evolved genes from either original (basic) genes or from other evolved genes and the introduction of those...
Multi-chromosomes representations have been used in Genetic Algorithms to decompose complex solution representations into simpler components each of which is represented onto a single chromosome. This paper investigates the effects of distributing similar structures over a number of chromosomes. The solution representation of a simple mixed integer problem is encoded onto one, two, or three chromosomes...
In this paper, the development of a Hierarchical and Feed-Forward intelligent Fuzzy Logic system using Genetic Algorithms for prediction and modelling of fluctuations in interest rates in Australia is discussed. The system developed is used to predict quarterly and half yearly interest rates using fuzzy logic. The fuzzy rules for fuzzy logic predictor are unknown. A knowledge base must be created...
A knowledge-based system acts as an intelligent agent to manage workflows. This knowledge-based system represents both organisational rules and cultural factors, as well as the state of the decision making environment. An experimental intelligent workflow system has been built to manage the processing of applications received by a university department from potential research students. This particular...
Decision tables and decision trees have long been used to describe and implement computer programs which classify cases. It also is known that there is a close relationship between them. This however, is mediated by algorithms which tend to be exponential. Decision tables and decision trees can be viewed as propositional system; so can most expert systems. Knowledge-based systems therefore give rise...
The contribution of this paper is three-fold: It substantially extends Ripple Down Rules, a proven effective method for building large knowledge bases without a knowledge engineer. Furthermore, we propose to develop highly effective heuristics searchers for combinatorial problems by a knowledge acquisition approach to acquire human search knowledge. Finally, our initial experimental results suggest,...
This paper demonstrates the capability of MODEL-ECS to support domain users in rapid prototyping of executable problem solving methods (PSMs) (i.e., known as inference structures in the KADS models of expertise). MODEL-ECS is a graphically based conceptual modeling language that is made up of Conceptual Graphs [14] and Actors [6]. In addition to being highly formal and considerably sophisticated,...
In this paper we concentrate on the causal theory of action developed by McCain and Turner [2] for computing ramifications. Our aim here is to characterise this theory of action in terms of a preferentialstyle semantics in the spirit of Shoham [4]. Such a result would not only place McCain and Turner's theory in a uniform setting, facilitating comparison with other logics of action, but also give...
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