DyKnow: An approach to middleware for knowledge processing
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Article in journal (Refereed)
Journal of Intelligent & Fuzzy Systems(ISSN 1064-1246)
Engineering and Technology
Any autonomous system embedded in a dynamic and changing environment must be able to create qualitative knowledge and object structures representing aspects of its environment on the fly from raw or preprocessed sensor data in order to reason qualitatively about the environment. These structures must be managed and made accessible to deliberative and reactive functionalities which are dependent on being situationally aware of the changes in both the robotic agent's embedding and internal environment. DyKnow is a software framework which provides a set of functionalities for contextually accessing, storing, creating and processing such structures. The system is implemented and has been deployed in a deliberative/reactive architecture for an autonomous unmanned aerial vehicle. The architecture itself is distributed and uses real-time CORBA as a communications infrastructure. We describe the system and show how it can be used in execution monitoring and chronicle recognition scenarios for UAV applications.