Bridging the Sense-Reasoning Gap: DyKnow - A Middleware Component for Knowledge Processing
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Conference paper (Refereed)
IROS Workshop on Current Software Frameworks in Cognitive Robotics Integrating Different Computational Paradigms
Martin Hulse and Manfred Hild
Developing autonomous agents displaying rational and goal-directed behavior in a dynamic physical environment requires the integration of both sensing and reasoning components. Due to the different characteristics of these components there is a gap between sensing and reasoning. We believe that this gap can not be bridged in a single step with a single technique. Instead, it requires a more general approach to integrating components on many different levels of abstraction and organizing them in a structured and principled manner. In this paper we propose knowledge processing middleware as a systematic approach for organizing such processing. Desirable properties of such middleware are presented and motivated. We then go on to argue that a declarative streambased system is appropriate to provide the desired functionality. Finally, DyKnow, a concrete example of stream-based knowledge processing middleware that can be used to bridge the sense-reasoning gap, is presented. Different types of knowledge processes and components of the middleware are described and motivated in the context of a UAV traffic monitoring application.
Swedish Foundation for Strategic Research