An Architecture for Structured, Concurrent, Real-Time Action

Leon Rubin Barrett

EECS Department, University of California, Berkeley

Technical Report No. UCB/EECS-2010-58

May 11, 2010

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http://www2.eecs.berkeley.edu/Pubs/TechRpts/2010/Archive/EECS-2010-58.pdf

I present a computational architecture designed to capture certain properties essential to actions, including compositionality, concurrency, quick reactions, and resilience in the face of unexpected events. It uses a structured internal state model and complex inference about the environment to inform decision-making. The properties above are achieved by combining interacting procedural and probabilistic representations, so that the structure of actions is captured by Petri Nets, which are informed by, and affect, a model of the world represented as a Probabilistic Relational Model. I give both a theoretical analysis of the architecture and a demonstration of its use in a simulated robotic environment.

Advisors: Jerome A. Feldman

BibTeX citation:

@phdthesis{Barrett:EECS-2010-58,
    Author= {Barrett, Leon Rubin},
    Title= {An Architecture for Structured, Concurrent, Real-Time Action},
    School= {EECS Department, University of California, Berkeley},
    Year= {2010},
    Month= {May},
    Url= {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-58.html},
    Number= {UCB/EECS-2010-58},
    Abstract= {I present a computational architecture designed to capture certain properties essential to actions, including compositionality, concurrency, quick reactions, and resilience in the face of unexpected events. It uses a structured internal state model and complex inference about the environment to inform decision-making. The properties above are achieved by combining interacting procedural and probabilistic representations, so that the structure of actions is captured by Petri Nets, which are informed by, and affect, a model of the world represented as a Probabilistic Relational Model. I give both a theoretical analysis of the architecture and a demonstration of its use in a simulated robotic environment.},
}

EndNote citation:

%0 Thesis
%A Barrett, Leon Rubin 
%T An Architecture for Structured, Concurrent, Real-Time Action
%I EECS Department, University of California, Berkeley
%D 2010
%8 May 11
%@ UCB/EECS-2010-58
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2010/EECS-2010-58.html
%F Barrett:EECS-2010-58