Bridging the Sense-Reasoning Gap: DyKnow - A Middleware Component for Knowledge Processing
2008 (English)In: IROS Workshop on Current Software Frameworks in Cognitive Robotics Integrating Different Computational Paradigms / [ed] Martin Hulse and Manfred Hild, 2008Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
IdentifiersURN: urn:nbn:se:liu:diva-44566Local ID: 77106OAI: oai:DiVA.org:liu-44566DiVA: diva2:265428
FunderSwedish Foundation for Strategic Research
No proceedings, but CD2009-10-102009-10-102013-08-29