scholarly journals Graphical State Space Programming: A visual programming paradigm for robot task specification

2011 ◽  
Author(s):  
Jimmy Li ◽  
Anqi Xu ◽  
Gregory Dudek
Keyword(s):  
State Space ◽  
Visual Programming ◽  
Programming Paradigm ◽  
Robot Task ◽  
Task Specification

scholarly journals Building the Foundation of Robot Explanation Generation Using Behavior Trees

2021 ◽  
Vol 10 (3) ◽  
pp. 1-31
Author(s):  
Zhao Han ◽  
Daniel Giger ◽  
Jordan Allspaw ◽  
Michael S. Lee ◽  
Henny Admoni ◽  
...  
Keyword(s):  
Autonomous Robots ◽  
Free Form ◽  
Static Structure ◽  
Simulation Code ◽  
Causal Information ◽  
Robot Behavior ◽  
Behavior Trees ◽  
Robot Task ◽  
Task Specification ◽  
Explanation Generation

As autonomous robots continue to be deployed near people, robots need to be able to explain their actions. In this article, we focus on organizing and representing complex tasks in a way that makes them readily explainable. Many actions consist of sub-actions, each of which may have several sub-actions of their own, and the robot must be able to represent these complex actions before it can explain them. To generate explanations for robot behavior, we propose using Behavior Trees (BTs), which are a powerful and rich tool for robot task specification and execution. However, for BTs to be used for robot explanations, their free-form, static structure must be adapted. In this work, we add structure to previously free-form BTs by framing them as a set of semantic sets {goal, subgoals, steps, actions} and subsequently build explanation generation algorithms that answer questions seeking causal information about robot behavior. We make BTs less static with an algorithm that inserts a subgoal that satisfies all dependencies. We evaluate our BTs for robot explanation generation in two domains: a kitting task to assemble a gearbox, and a taxi simulation. Code for the behavior trees (in XML) and all the algorithms is available at github.com/uml-robotics/robot-explanation-BTs.

ACD3GPSO: automatic clustering-based algorithm for multi-robot task allocation using dynamic distributed double-guided particle swarm optimization

2019 ◽  
Vol 40 (2) ◽  
pp. 235-247
Author(s):  
Asma Ayari ◽  
Sadok Bouamama
Keyword(s):  
Particle Swarm Optimization ◽  
State Space ◽  
Task Allocation ◽  
Particle Swarm ◽  
Swarm Optimization ◽  
Content Type ◽  
Automatic Clustering ◽  
Run Time ◽  
Robot Task ◽  
Multi Robot

Purpose The multi-robot task allocation (MRTA) problem is a challenging issue in the robotics area with plentiful practical applications. Expanding the number of tasks and robots increases the size of the state space significantly and influences the performance of the MRTA. As this process requires high computational time, this paper aims to describe a technique that minimizes the size of the explored state space, by partitioning the tasks into clusters. In this paper, the authors address the problem of MRTA by putting forward a new automatic clustering algorithm of the robots' tasks based on a dynamic-distributed double-guided particle swarm optimization, namely, ACD3GPSO. Design/methodology/approach This approach is made out of two phases: phase I groups the tasks into clusters using the ACD3GPSO algorithm and phase II allocates the robots to the clusters. Four factors are introduced in ACD3GPSO for better results. First, ACD3GPSO uses the k-means algorithm as a means to improve the initial generation of particles. The second factor is the distribution using the multi-agent approach to reduce the run time. The third one is the diversification introduced by two local optimum detectors LODpBest and LODgBest. The last one is based on the concept of templates and guidance probability Pguid. Findings Computational experiments were carried out to prove the effectiveness of this approach. It is compared against two state-of-the-art solutions of the MRTA and against two evolutionary methods under five different numerical simulations. The simulation results confirm that the proposed method is highly competitive in terms of the clustering time, clustering cost and MRTA time. Practical implications The proposed algorithm is quite useful for real-world applications, especially the scenarios involving a high number of robots and tasks. Originality/value In this methodology, owing to the ACD3GPSO algorithm, task allocation's run time has diminished. Therefore, the proposed method can be considered as a vital alternative in the field of MRTA with growing numbers of both robots and tasks. In PSO, stagnation and local optima issues are avoided by adding assorted variety to the population, without losing its fast convergence.

scholarly journals WebFlow - a visual programming paradigm for Web/Java based coarse grain distributed computing

1997 ◽  
Vol 9 (6) ◽  
pp. 555-577 ◽  
Author(s):  
Dimple Bhatia ◽  
Vanco Burzevski ◽  
Maja Camuseva ◽  
Geoffrey Fox ◽  
Wojtek Furmanski ◽  
...  
Keyword(s):  
Distributed Computing ◽  
Visual Programming ◽  
Coarse Grain ◽  
Programming Paradigm

High-level robot task specification

2003 ◽  
Author(s):  
N. Abe ◽  
S. Sako ◽  
S. Tsuji
Keyword(s):  
Robot Task ◽  
Task Specification ◽  
High Level

scholarly journals A Survey on Visual Programming Languages in Internet of Things

2017 ◽  
Vol 2017 ◽  
pp. 1-6 ◽  
Author(s):  
Partha Pratim Ray
Keyword(s):  
Internet Of Things ◽  
Programming Languages ◽  
Web Of Science ◽  
Visual Programming ◽  
Substantial Contribution ◽  
Programming Environment ◽  
Application Development ◽  
Programming Paradigm ◽  
Multiple Domains ◽  
Selection Of

Visual programming has transformed the art of programming in recent years. Several organizations are in race to develop novel ideas to run visual programming in multiple domains with Internet of Things. IoT, being the most emerging area of computing, needs substantial contribution from the visual programming paradigm for its technological propagation. This paper surveys visual programming languages being served for application development, especially in Internet of Things field. 13 such languages are visited from several popular research-electronic databases (e.g., IEEE Xplore, Science Direct, Springer Link, Google Scholar, Web of Science, and Postscapes) and compared under four key attributes such as programming environment, license, project repository, and platform supports. Grouped into two segments, open source and proprietary platform, these visual languages pertain few crucial challenges that have been elaborated in this literature. The main goal of this paper is to present existing VPLs per their parametric proforma to enable naïve developers and researchers in the field of IoT to choose appropriate variant of VPL for particular type of application. It is also worth validating the usability and adaptability of VPLs that is essential for selection of beneficiary in terms of IoT.

scholarly journals DNAP: Dynamic Nuchwezi Architecture Platform - A New Software Extension and Construction Technology

2020 ◽  
Author(s):  
Joseph Willrich Lutalo ◽  
Odongo Steven Eyobu ◽  
Benjamin Kanagwa
Keyword(s):  
Visual Programming ◽  
Software Systems ◽  
Construction Technology ◽  
Operating Environment ◽  
Alternative Technologies ◽  
Programming Paradigm ◽  
Software Construction ◽  
Software Extension ◽  
Net Framework ◽  
Business Challenges

<div>The need to improve or build new software systems to solve new and old business challenges is a persistent challenge in</div><div>the software consumer and development industry, yet costly. To minimize these costs, the construction method should be designed with the following qualities in mind; software portability, extensibility, and simplicity. To achieve these qualities, this paper proposes the Dynamic Nuchwezi Architecture Platform (DNAP), which is a new software construction and extension technology. DNAP offers a</div><div>visual programming paradigm with a capability of generating production-ready business automation software for both mobile and web. It also offers a simple mechanism for the extension of existing softwares using embeddable components. To evaluate and justify DNAP, eight Software Operating Environment (SOE) metrics have been developed and together with the SOE model, are used to contrast</div><div>DNAP against four alternative software construction technologies namely; Android Platform, .NET Framework, Java SE Platform and Python. The performance evaluation results show that DNAP offers an average of 33% reduction in software construction complexity and an 11% enhancement in language efficiency when compared to alternative technologies.</div>

scholarly journals Prototyping Web instruments with Mosaicode

2019 ◽  
Author(s):  
André Gomes ◽  
Frederico Resende ◽  
Luan Gonçalves ◽  
Flávio Luiz Schiavoni
Keyword(s):  
Musical Instrument ◽  
Visual Programming ◽  
Musical Instruments ◽  
Portable Device ◽  
Web Browsers ◽  
Programming Environment ◽  
Easy Task ◽  
Programming Paradigm ◽  
Exchange Information ◽  
Html 5

Many HTML 5 features enable you to build audio applications for web browsers, simplifying the distribution of these applications, and turning any computer, mobile, and portable device into a digital musical instrument. Developing such applications is not an easy task for layprogrammers or non-programmers and may require some effort by musicians and artists to encode audio applications based on HTML5 technologies and APIs. In order to simplify this task, this paper presents the Mosaicode, a Visual programming environment that enables the development of Digital Musical Instruments using the visual programming paradigm. Applications can be developed in the Mosaicode from diagrams – blocks, which encapsulate basic programming functions, and connections, to exchange information among the blocks. The Mosaicode, by having the functionality of generating, compiling and executing codes, can be used to quickly prototype musical instruments, and make it easy to use for beginners looking for learn programming and expert developers who need to optimize the construction of musical applications.

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