liu.seSearch for publications in DiVA
Change search
Refine search result
123 1 - 50 of 131
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Rows per page
  • 5
  • 10
  • 20
  • 50
  • 100
  • 250
Sort
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
Select
The maximal number of hits you can export is 250. When you want to export more records please use the Create feeds function.
  • 1.
    Andersson, Olov
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    Doherty, Patrick
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    Model-Based Reinforcement Learning in Continuous Environments Using Real-Time Constrained Optimization2015In: Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence (AAAI) / [ed] Blai Bonet and Sven Koenig, AAAI Press, 2015, p. 2497-2503Conference paper (Refereed)
    Abstract [en]

    Reinforcement learning for robot control tasks in continuous environments is a challenging problem due to the dimensionality of the state and action spaces, time and resource costs for learning with a real robot as well as constraints imposed for its safe operation. In this paper we propose a model-based reinforcement learning approach for continuous environments with constraints. The approach combines model-based reinforcement learning with recent advances in approximate optimal control. This results in a bounded-rationality agent that makes decisions in real-time by efficiently solving a sequence of constrained optimization problems on learned sparse Gaussian process models. Such a combination has several advantages. No high-dimensional policy needs to be computed or stored while the learning problem often reduces to a set of lower-dimensional models of the dynamics. In addition, hard constraints can easily be included and objectives can also be changed in real-time to allow for multiple or dynamic tasks. The efficacy of the approach is demonstrated on both an extended cart pole domain and a challenging quadcopter navigation task using real data.

    Download full text (pdf)
    AAAI-2015-Model-Based-Reinforcement
  • 2.
    Andersson, Olov
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Ljungqvist, Oskar
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Tiger, Mattias
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Axehill, Daniel
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Receding-Horizon Lattice-based Motion Planning with Dynamic Obstacle Avoidance2018In: 2018 IEEE Conference on Decision and Control (CDC), Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 4467-4474Conference paper (Refereed)
    Abstract [en]

    A key requirement of autonomous vehicles is the capability to safely navigate in their environment. However, outside of controlled environments, safe navigation is a very difficult problem. In particular, the real-world often contains both complex 3D structure, and dynamic obstacles such as people or other vehicles. Dynamic obstacles are particularly challenging, as a principled solution requires planning trajectories with regard to both vehicle dynamics, and the motion of the obstacles. Additionally, the real-time requirements imposed by obstacle motion, coupled with real-world computational limitations, make classical optimality and completeness guarantees difficult to satisfy. We present a unified optimization-based motion planning and control solution, that can navigate in the presence of both static and dynamic obstacles. By combining optimal and receding-horizon control, with temporal multi-resolution lattices, we can precompute optimal motion primitives, and allow real-time planning of physically-feasible trajectories in complex environments with dynamic obstacles. We demonstrate the framework by solving difficult indoor 3D quadcopter navigation scenarios, where it is necessary to plan in time. Including waiting on, and taking detours around, the motions of other people and quadcopters.

    Download full text (pdf)
    Receding-Horizon Lattice-based Motion Planning with Dynamic Obstacle Avoidance
  • 3.
    Berglund, Aseel
    et al.
    Linköping University, Department of Computer and Information Science, Software and Systems. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
    Integrating Soft Skills into Engineering Education for Increased Student Throughput and more Professional Engineers2014In: Proceedings of LTHs 8:e Pedagogiska Inspirationskonferens (PIK), Lund, Sweden: Lunds university , 2014Conference paper (Other academic)
    Abstract [en]

    Soft skills are recognized as crucial for engineers as technical work is becoming more and more collaborative and interdisciplinary. Today many engineering educations fail to give appropriate training in soft skills. Linköping University has therefore developed a completely new course “Professionalism for Engineers” for two of its 5-year engineering programs in the area of computer science. The course stretches over the first 3 years with students from the three years taking it together. The purpose of the course is to give engineering students training in soft skills that are of importance during the engineering education as well as during their professional career. The examination is based on the Dialogue Seminar Method developed for learning from experience and through reflection. The organization of the course is innovative in many ways.

  • 4.
    Bergström, David
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Tiger, Mattias
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Bayesian optimization for selecting training and validation data for supervised machine learning2019In: 31st annual workshop of the Swedish Artificial Intelligence Society (SAIS 2019), Umeå, Sweden, June 18-19, 2019., 2019Conference paper (Other academic)
    Abstract [en]

    Validation and verification of supervised machine learning models is becoming increasingly important as their complexity and range of applications grows. This paper describes an extension to Bayesian optimization which allows for selecting both training and validation data, in cases where data can be generated or calculated as a function of a spatial location.

  • 5.
    Bhatt, Mehul
    et al.
    University of Bremen, Germany.
    Erdem, Esra
    Sabanci University, Turkey.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Spranger, Michael
    Sony Comp Science Labs Inc, Japan.
    Cognitive robotics in JOURNAL OF EXPERIMENTAL and THEORETICAL ARTIFICIAL INTELLIGENCE, vol 28, issue 5, pp 779-7802016In: Journal of experimental and theoretical artificial intelligence (Print), ISSN 0952-813X, E-ISSN 1362-3079, Vol. 28, no 5, p. 779-780Article in journal (Other academic)
    Abstract [en]

    n/a

  • 6.
    Carlsen, Henrik
    et al.
    Stockholm Environm Inst, Sweden.
    Nykvist, Bjorn
    Stockholm Environm Inst, Sweden.
    Joshi, Somya
    Stockholm Environm Inst, Sweden.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Chasing artificial intelligence in shared socioeconomic pathways2024In: One Earth, ISSN 2590-3330, E-ISSN 2590-3322, Vol. 7, no 1, p. 18-22Article in journal (Other academic)
    Abstract [en]

    The development of artificial intelligence has likely reached an inflection point, with significant implications for how research needs to address emerging technologies and how they drive long-term socioeconomic development of importance for climate change scenarios.

  • 7.
    Curry, Edward
    et al.
    NUI, Ireland; BDVA, Belgium.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering. EurAI, Ireland.
    Irgens, Morten
    Kristiania Univ Coll, Norway; CLAIRE, Netherlands.
    Smeulders, Arnold W. M.
    Univ Amsterdam, Netherlands.
    Stramigioli, Stefano
    Univ Twente, Netherlands; euRobotics, Belgium.
    Partnership on AI, Data, and Robotics2022In: Communications of the ACM, ISSN 0001-0782, E-ISSN 1557-7317, Vol. 65, no 4, p. 54-55Article in journal (Other academic)
    Abstract [en]

    n/a

  • 8.
    Danelljan, Martin
    et al.
    Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
    Khan, Fahad Shahbaz
    Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering.
    Felsberg, Michael
    Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
    Granström, Karl
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    Rudol, Piotr
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    Wzorek, Mariusz
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    Kvarnström, Jonas
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    Doherty, Patrick
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    A Low-Level Active Vision Framework for Collaborative Unmanned Aircraft Systems2015In: COMPUTER VISION - ECCV 2014 WORKSHOPS, PT I / [ed] Lourdes Agapito, Michael M. Bronstein and Carsten Rother, Springer Publishing Company, 2015, Vol. 8925, p. 223-237Conference paper (Refereed)
    Abstract [en]

    Micro unmanned aerial vehicles are becoming increasingly interesting for aiding and collaborating with human agents in myriads of applications, but in particular they are useful for monitoring inaccessible or dangerous areas. In order to interact with and monitor humans, these systems need robust and real-time computer vision subsystems that allow to detect and follow persons.

    In this work, we propose a low-level active vision framework to accomplish these challenging tasks. Based on the LinkQuad platform, we present a system study that implements the detection and tracking of people under fully autonomous flight conditions, keeping the vehicle within a certain distance of a person. The framework integrates state-of-the-art methods from visual detection and tracking, Bayesian filtering, and AI-based control. The results from our experiments clearly suggest that the proposed framework performs real-time detection and tracking of persons in complex scenarios

    Download full text (pdf)
    fulltext
  • 9.
    de Leng, Daniel
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Approximate Stream Reasoning with Metric Temporal Logic under Uncertainty2019In: Proceedings of the Thirty-Third AAAI Conference on Artificial Intelligence (AAAI), Palo Alto: AAAI Press, 2019, p. 2760-2767Conference paper (Refereed)
    Abstract [en]

    Stream reasoning can be defined as incremental reasoning over incrementally-available information. The formula progression procedure for Metric Temporal Logic (MTL) makes use of syntactic formula rewritings to incrementally evaluate formulas against incrementally-available states. Progression however assumes complete state information, which can be problematic when not all state information is available or can be observed, such as in qualitative spatial reasoning tasks or in robotics applications. In those cases, there may be uncertainty as to which state out of a set of possible states represents the ‘true’ state. The main contribution of this paper is therefore an extension of the progression procedure that efficiently keeps track of all consistent hypotheses. The resulting procedure is flexible, allowing a trade-off between faster but approximate and slower but precise progression under uncertainty. The proposed approach is empirically evaluated by considering the time and space requirements, as well as the impact of permitting varying degrees of uncertainty.

  • 10.
    de Leng, Daniel
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    DyKnow: A Dynamically Reconfigurable Stream Reasoning Framework as an Extension to the Robot Operating System2016In: Proceedings of the Fifth IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), IEEE conference proceedings, 2016, p. 55-60Conference paper (Refereed)
    Abstract [en]

    DyKnow is a framework for stream reasoning aimed at robot applications that need to reason over a wide and varying array of sensor data for e.g. situation awareness. The framework extends the Robot Operating System (ROS). This paper presents the architecture and services behind DyKnow's run-time reconfiguration capabilities and offers an analysis of the quantitative and qualitative overhead. Run-time reconfiguration offers interesting advantages, such as fault recovery and the handling of changes to the set of computational and information resources that are available to a robot system. Reconfiguration capabilities are becoming increasingly important with the advances in areas such as the Internet of Things (IoT). We show the effectiveness of the suggested reconfiguration support by considering practical case studies alongside an empirical evaluation of the minimal overhead introduced when compared to standard ROS.

  • 11.
    de Leng, Daniel
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, Faculty of Science & Engineering.
    Ontology-Based Introspection in Support of Stream Reasoning2015In: Thirteenth scandinavian conference on artificial intelligence (SCAI) / [ed] S. Nowaczyk, IOS Press, 2015, p. 78-87Conference paper (Other academic)
    Abstract [en]

    Building complex systems such as autonomous robots usually require the integration of a wide variety of components including high-level reasoning functionalities. One important challenge is integrating the information in a system by setting up the data flow between the components. This paper extends our earlier work on semantic matching with support for adaptive on-demand semantic information integration based on ontology-based introspection. We take two important standpoints. First, we consider streams of information, to handle the fact that information often becomes continually and incrementally available. Second, we explicitly represent the semantics of the components and the information that can be provided by them in an ontology. Based on the ontology our custom-made stream configuration planner automatically sets up the stream processing needed to generate the streams of information requested. Furthermore, subscribers are notified when properties of a stream changes, which allows them to adapt accordingly. Since the ontology represents both the systems information about the world and its internal stream processing many other powerful forms of introspection are also made possible. The proposed semantic matching functionality is part of the DyKnow stream reasoning framework and has been integrated in the Robot Operating System (ROS).

  • 12.
    de Leng, Daniel
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, Faculty of Science & Engineering.
    Ontology-Based Introspection in Support of Stream Reasoning2015In: Proceedings of the Joint Ontology Workshops (JOWO 2015), Buenos Aires, Argentina, July 25-27, 2015: The Joint Ontology Workshops - Episode 1 / [ed] Odile Papini, Salem Benferhat, Laurent Garcia, Marie-Laure Mugnier, Eduardo Fermé, Thomas Meyer, Renata Wassermann, Torsten Hahmann, Ken Baclawski, Adila Krisnadhi, Pavel Klinov, Stefano Borgo and Oliver Kutz Daniele Porello15, Rheinisch-Westfaelische Technische Hochschule Aachen * Lehrstuhl Informatik V , 2015, Vol. 1517, p. 1-8Conference paper (Other academic)
    Abstract [en]

    Building complex systems such as autonomous robots usually require the integration of a wide variety of components including high-level reasoning functionalities. One important challenge is integrating the information in a system by setting up the data flow between the components. This paper extends our earlier work on semantic matching with support for adaptive on-demand semantic information integration based on ontology-based introspection.  We take two important stand-points.  First, we consider streams of information, to handle the fact that information often becomes continually and incrementally available.  Second, we explicitly represent the semantics of the components and the information that can be provided by them in an ontology.  Based on the ontology our custom-made stream configuration planner automatically sets up the stream processing needed to generate the streams of information requested. Furthermore, subscribers are notified when properties of a stream changes, which allows them to adapt accordingly. Since the ontology represents both the system's information about the world and its internal stream processing many other powerful forms of introspection are also made possible. The proposed semantic matching functionality is part of the DyKnow stream reasoning framework and has been integrated in the Robot Operating System (ROS).

    Download full text (pdf)
    fulltext
  • 13.
    de Leng, Daniel
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Partial-State Progression for Stream Reasoning with Metric Temporal Logic2018In: SIXTEENTH INTERNATIONAL CONFERENCE ON PRINCIPLES OF KNOWLEDGE REPRESENTATION AND REASONING, ASSOC ADVANCEMENT ARTIFICIAL INTELLIGENCE , 2018, p. 633-634Conference paper (Refereed)
    Abstract [en]

    The formula progression procedure for Metric Temporal Logic (MTL), originally proposed by Bacchus and Kabanza, makes use of syntactic formula rewritings to incrementally evaluate MTL formulas against incrementally-available states. Progression however assumes complete state information, which can be problematic when not all state information is available or can be observed, such as in qualitative spatial reasoning tasks or in robot applications. Our main contribution is an extension of the progression procedure to handle partial state information. For each missing truth value, we efficiently consider all consistent hypotheses by branching progression for each such hypothesis. The resulting procedure is flexible, allowing a trade-off between faster but approximate and slower but precise partial-state progression.

  • 14.
    de Leng, Daniel
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Qualitative Spatio-Temporal Stream Reasoning With Unobservable Intertemporal Spatial Relations Using Landmarks2016In: Proceedings of the Thirtieth AAAI Conference on Artificial Intelligence (AAAI) / [ed] Dale Schuurmans, Dale Wellman, AAAI Press, 2016, Vol. 2, p. 957-963Conference paper (Refereed)
    Abstract [en]

    Qualitative spatio-temporal reasoning is an active research area in Artificial Intelligence. In many situations there is a need to reason about intertemporal qualitative spatial relations, i.e. qualitative relations between spatial regions at different time-points. However, these relations can never be explicitly observed since they are between regions at different time-points. In applications where the qualitative spatial relations are partly acquired by for example a robotic system it is therefore necessary to infer these relations. This problem has, to the best of our knowledge, not been explicitly studied before. The contribution presented in this paper is two-fold. First, we present a spatio-temporal logic MSTL, which allows for spatio-temporal stream reasoning. Second, we define the concept of a landmark as a region that does not change between time-points and use these landmarks to infer qualitative spatio-temporal relations between non-landmark regions at different time-points. The qualitative spatial reasoning is done in RCC-8, but the approach is general and can be applied to any similar qualitative spatial formalism.

  • 15.
    de Leng, Daniel
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Towards Adaptive Semantic Subscriptions for Stream Reasoning in the Robot Operating System2017In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE , 2017, p. 5445-5452Conference paper (Refereed)
    Abstract [en]

    Modern robotic systems often consist of a growing set of information-producing components that need to be appropriately connected for the system to function properly. This is commonly done manually or through relatively simple scripts by specifying explicitly which components to connect. However, this process is cumbersome and error-prone, does not scale well as more components are introduced, and lacks flexibility and robustness at run-time. This paper presents an algorithm for setting up and maintaining implicit subscriptions to information through its semantics rather than its source, which we call semantic subscriptions. The proposed algorithm automatically reconfigures the system when necessary in response to changes at run-time, making the semantic subscriptions adaptive to changing circumstances. To illustrate the effectiveness of adaptive semantic subscriptions, we present a case study with two SoftBank Robotics NAO robots for handling the cases when a component stops working and when new components, in this case a second robot, become available. The solution has been implemented as part of a stream reasoning framework integrated with the Robot Operating System (ROS).

  • 16.
    de Leng, Daniel
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
    Towards On-Demand Semantic Event Processing for Stream Reasoning2014In: 17th International Conference on Information Fusion, 2014Conference paper (Other academic)
    Abstract [en]

    The ability to automatically, on-demand, apply pattern matching over streams of information to infer the occurrence of events is an important fusion functionality. Existing event detection approaches require explicit configuration of what events to detect and what streams to use as input. This paper discusses on-demand semantic event processing, and extends the semantic information integration approach used in the stream processing middleware framework DyKnow to incorporate this new feature. By supporting on-demand semantic event processing, systems can automatically configure what events to detect and what streams to use as input for the event detection. This can also include the detection of lower-level events as well as processing of streams. The semantic stream query language C-SPARQL is used to specify events, which can be seen as transformations over streams. Since semantic streams consist of RDF triples, we suggest a method to convert between RDF streams and DyKnow streams. DyKnow is integrated in the Robot Operating System (ROS) and used for example in collaborative unmanned aircraft systems missions.

  • 17. De Raedt, Luc
    et al.
    Bessiere, ChristianDubois, DidierDoherty, PatrickLinköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.Frasconi, PaoloHeintz, FredrikLinköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.Lucas, Peter
    Proceedings of the 20th European Conference on Artificial Intelligence (ECAI)2012Conference proceedings (editor) (Refereed)
  • 18.
    DellAglio, Daniele
    et al.
    Univ Zurich, Switzerland.
    Eiter, Thomas
    TU Vienna, Austria.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Le-Phuoc, Danh
    TU Berlin, Germany.
    Special issue on stream reasoning2019In: Semantic Web, ISSN 1570-0844, E-ISSN 2210-4968, Vol. 10, no 3, p. 453-455Article in journal (Other academic)
    Abstract [en]

    n/a

  • 19.
    Doherty, Patrick
    et al.
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    Haslum, Patrik
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    Heintz, Fredrik
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    Merz, Torsten
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group .
    Nyblom, Per
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    Persson, Tommy
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group .
    Wingman, Björn
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group .
    A Distributed Architecture for Autonomous Unmanned Aerial Vehicle Experimentation2004In: 7th International Symposium on Distributed Autonomous Robotic Systems,2004, Toulouse: LAAS , 2004, p. 221-Conference paper (Refereed)
  • 20.
    Doherty, Patrick
    et al.
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    A Delegation-Based Cooperative Robotic Framework2011In: Proceedings of the IEEE International Conference on Robotics and Biomimetic, IEEE conference proceedings, 2011, p. 2955-2962Conference paper (Refereed)
    Abstract [en]

    Cooperative robotic systems, such as unmanned aircraft systems, are becoming technologically mature enough to be integrated into civil society. To gain practical use and acceptance, a verifiable, principled and well-defined foundation for interactions between human operators and autonomous systems is needed. In this paper, we propose and specify such a formally grounded collaboration framework. Collaboration is formalized in terms of the concept of delegation and delegation is instantiated as a speech act. Task Specification Trees are introduced as both a formal and pragmatic characterization of tasks and tasks are recursively delegated through a delegation process. The delegation speech act is formally grounded in the implementation using Task Specification Trees, task allocation via auctions and distributed constraint solving. The system is implemented as a prototype on unmanned aerial vehicle systems and a case study targeting emergency service applications is presented.

    Download full text (pdf)
    fulltext
  • 21.
    Doherty, Patrick
    et al.
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Delegation-Based Collaboration2012In: Proceedings of the 5th International Conference on Cognitive Systems (CogSys), 2012Conference paper (Other academic)
  • 22.
    Doherty, Patrick
    et al.
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, Department of Computer and Information Science, UASTECH - Autonomous Unmanned Aircraft Systems Technologies. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Kvarnström, Jonas
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    High-level Mission Specification and Planning for Collaborative Unmanned Aircraft Systems using Delegation2013In: Unmanned Systems, ISSN 2301-3850, E-ISSN 2301-3869, Vol. 1, no 1, p. 75-119Article in journal (Refereed)
    Abstract [en]

    Automated specification, generation and execution  of high level missions involving one or more heterogeneous unmanned aircraft systems is in its infancy. Much previous effort has been focused on the development of air vehicle platforms themselves together with the avionics and sensor subsystems that implement basic navigational skills. In order to increase the degree of autonomy in such systems so they can successfully participate in more complex mission scenarios such as those considered in emergency rescue that also include ongoing interactions with human operators, new architectural components and functionalities will be required to aid not only human operators in mission planning, but also the unmanned aircraft systems themselves in the automatic generation, execution and partial verification of mission plans to achieve mission goals. This article proposes a formal framework and architecture based on the unifying concept of delegation that can be used for the automated specification, generation and execution of high-level collaborative missions involving one or more air vehicles platforms and human operators. We describe an agent-based software architecture, a temporal logic based mission specification language, a distributed temporal planner and  a task specification language that when integrated provide a basis for the generation, instantiation and execution of complex collaborative missions on heterogeneous air vehicle systems. A prototype of the framework is operational in a number of autonomous unmanned aircraft systems developed in our research lab.

  • 23.
    Doherty, Patrick
    et al.
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Kvarnström, Jonas
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Robotics, Temporal Logic and Stream Reasoning2013In: Proceedings of Logic for Programming Artificial Intelligence and Reasoning (LPAR), 2013, 2013Conference paper (Refereed)
  • 24.
    Doherty, Patrick
    et al.
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Landén, David
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    A Delegation-Based Architecture for Collaborative Robotics2011In: Agent-Oriented Software Engineering XI: 11th International Workshop, AOSE 2010, Toronto, Canada, May 10-11, 2010, Revised Selected Papers / [ed] Danny Weyns and Marie-Pierre Gleizes, Springer Berlin/Heidelberg, 2011, p. 205-247Chapter in book (Refereed)
    Abstract [en]

    Collaborative robotic systems have much to gain by leveraging results from the area of multi-agent systems and in particular agent-oriented software engineering. Agent-oriented software engineering has much to gain by using collaborative robotic systems as a testbed. In this article, we propose and specify a formally grounded generic collaborative system shell for robotic systems and human operated ground control systems. Collaboration is formalized in terms of the concept of delegation and delegation is instantiated as a speech act. Task Specification Trees are introduced as both a formal and pragmatic characterization of tasks and tasks are recursively delegated through a delegation process implemented in the collaborative system shell. The delegation speech act is formally grounded in the implementation using Task Specification Trees, task allocation via auctions and distributed constraint problem solving. The system is implemented as a prototype on Unmanned Aerial Vehicle systems and a case study targeting emergency service applications is presented.

    Download full text (pdf)
    fulltext
  • 25.
    Doherty, Patrick
    et al.
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Landén, David
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    A Delegation-Based Collaborative Robotic Framework2011In: Proceedings of the 3rd International Workshop on Collaborative Agents - Research and development / [ed] Christian Guttmann, 2011Conference paper (Refereed)
    Download full text (pdf)
    fulltext
  • 26.
    Doherty, Patrick
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    Landén, David
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    A Distributed Task Specification Language for Mixed-Initiative Delegation2012In: Principles and Practice of Multi-Agent Systems: 13th International Conference, PRIMA 2010, Kolkata, India, November 12-15, 2010, Revised Selected Papers / [ed] Nirmit Desai, Alan Liu, Michael Winikoff, Springer Berlin/Heidelberg, 2012, Vol. 7057, p. 42-57Conference paper (Refereed)
    Abstract [en]

    In the next decades, practically viable robotic/agent systems are going to be mixed-initiative in nature. Humans will request help from such systems and such systems will request help from humans in achieving the complex mission tasks required. Pragmatically, one requires a distributed task specification language to define tasks and a suitable data structure which satisfies the specification and can be used flexibly by collaborative multi-agent/robotic systems. This paper defines such a task specification language and an abstract data structure called Task Specification Trees which has many of the requisite properties required for mixed-initiative problem solving and adjustable autonomy in a distributed context. A prototype system has been implemented for this delegation framework and has been used practically with collaborative unmanned aircraft systems.

  • 27.
    Doherty, Patrick
    et al.
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Kvarnström, Jonas
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    A Temporal Logic-based Planning and Execution Monitoring Framework for Unmanned Aircraft Systems2009In: Autonomous Agents and Multi-Agent Systems, ISSN 1387-2532, E-ISSN 1573-7454, Vol. 19, no 3, p. 332-377Article in journal (Refereed)
    Abstract [en]

    Research with autonomous unmanned aircraft systems is reaching a new degree of sophistication where targeted missions require complex types of deliberative capability integrated in a practical manner in such systems. Due to these pragmatic constraints, integration is just as important as theoretical and applied work in developing the actual deliberative functionalities. In this article, we present a temporal logic-based task planning and execution monitoring framework and its integration into a fully deployed rotor-based unmanned aircraft system developed in our laboratory. We use a very challenging emergency services application involving body identification and supply delivery as a vehicle for showing the potential use of such a framework in real-world applications. TALplanner, a temporal logic-based task planner, is used to generate mission plans. Building further on the use of TAL (Temporal Action Logic), we show how knowledge gathered from the appropriate sensors during plan execution can be used to create state structures, incrementally building a partial logical model representing the actual development of the system and its environment over time. We then show how formulas in the same logic can be used to specify the desired behavior of the system and its environment and how violations of such formulas can be detected in a timely manner in an execution monitor subsystem. The pervasive use of logic throughout the higher level deliberative layers of the system architecture provides a solid shared declarative semantics that facilitates the transfer of knowledge between different modules.

  • 28.
    Doherty, Patrick
    et al.
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, Department of Computer and Information Science, UASTECH - Autonomous Unmanned Aircraft Systems Technologies. Linköping University, The Institute of Technology.
    Kvarnström, Jonas
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Landén, David
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Olsson, Per-Magnus
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Research with Collaborative Unmanned Aircraft Systems2010In: Proceedings of the Dagstuhl Workshop on Cognitive Robotics / [ed] Gerhard Lakemeyer, Hector J. Levesque, Fiora Pirri, Leibniz-Zentrum für Informatik , 2010Conference paper (Refereed)
    Abstract [en]

    We provide an overview of ongoing research which targets development of a principled framework for mixed-initiative interaction with unmanned aircraft systems (UAS). UASs are now becoming technologically mature enough to be integrated into civil society. Principled interaction between UASs and human resources is an essential component in their future uses in complex emergency services or bluelight scenarios. In our current research, we have targeted a triad of fundamental, interdependent conceptual issues: delegation, mixed- initiative interaction and adjustable autonomy, that is being used as a basis for developing a principled and well-defined framework for interaction. This can be used to clarify, validate and verify different types of interaction between human operators and UAS systems both theoretically and practically in UAS experimentation with our deployed platforms.

  • 29.
    Doherty, Patrick
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
    Kvarnström, Jonas
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
    Wzorek, Mariusz
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
    Rudol, Piotr
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
    Conte, Gianpaolo
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
    HDRC3 - A Distributed Hybrid Deliberative/Reactive Architecture for Unmanned Aircraft Systems2014In: Handbook of Unmanned Aerial Vehicles / [ed] Kimon P. Valavanis, George J. Vachtsevanos, Dordrecht: Springer Science+Business Media B.V., 2014, p. 849-952Chapter in book (Other academic)
    Abstract [en]

    This chapter presents a distributed architecture for unmanned aircraft systems that provides full integration of both low autonomy and high autonomy. The architecture has been instantiated and used in a rotorbased aerial vehicle, but is not limited to use in particular aircraft systems. Various generic functionalities essential to the integration of both low autonomy and high autonomy in a single system are isolated and described. The architecture has also been extended for use with multi-platform systems. The chapter covers the full spectrum of functionalities required for operation in missions requiring high autonomy.  A control kernel is presented with diverse flight modes integrated with a navigation subsystem. Specific interfaces and languages are introduced which provide seamless transition between deliberative and reactive capability and reactive and control capability. Hierarchical Concurrent State Machines are introduced as a real-time mechanism for specifying and executing low-level reactive control. Task Specification Trees are introduced as both a declarative and procedural mechanism for specification of high-level tasks. Task planners and motion planners are described which are tightly integrated into the architecture. Generic middleware capability for specifying data and knowledge flow within the architecture based on a stream abstraction is also described. The use of temporal logic is prevalent and is used both as a specification language and as an integral part of an execution monitoring mechanism. Emphasis is placed on the robust integration and interaction between these diverse functionalities using a principled architectural framework.  The architecture has been empirically tested in several complex missions, some of which are described in the chapter.

  • 30.
    Engelsons, Daniel
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Tiger, Mattias
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Coverage Path Planning in Large-scale Multi-floor Urban Environments with Applications to Autonomous Road Sweeping2022In: 2022 International Conference on Robotics and Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2022, p. 3328-3334Conference paper (Refereed)
    Abstract [en]

    Coverage Path Planning is the work horse of contemporary service task automation, powering autonomous floor cleaning robots and lawn mowers in households and office sites. While steady progress has been made on indoor cleaning and outdoor mowing, these environments are small and with simple geometry compared to general urban environments such as city parking garages, highway bridges or city crossings. To pave the way for autonomous road sweeping robots to operate in such difficult and complex environments, a benchmark suite with three large-scale 3D environments representative of this task is presented. On this benchmark we evaluate a new Coverage Path Planning method in comparison with previous well performing algorithms, and demonstrate state-of-the-art performance of the proposed method. Part of the success, for all evaluated algorithms, is the usage of automated domain adaptation by in-the-loop parameter optimization using Bayesian Optimization. Apart from improving the performance, tedious and bias-prone manual tuning is made obsolete, which makes the evaluation more robust and the results even stronger.

    Download full text (pdf)
    fulltext
  • 31.
    Färnqvist, Tommy
    et al.
    Linköping University, Department of Computer and Information Science, Software and Systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Lambrix, Patrick
    Linköping University, Department of Computer and Information Science, Database and information techniques. Linköping University, The Institute of Technology.
    Mannila, Linda
    Åbo Academy, Finland.
    Wang, Chunyan
    Linköping University, Department of Computer and Information Science.
    Supporting Active Learning by Introducing an Interactive Teaching Tool in a Data Structures and Algorithms Course2016In: Proceedings of the 47th ACM Technical Symposium on Computer Science Education (SIGCSE 2016), ACM Publications, 2016, p. 663-668Conference paper (Refereed)
    Abstract [en]

    Traditionally, theoretical foundations in data structures and algorithms (DSA) courses have been covered through lectures followed by tutorials, where students practise their understanding on pen-and-paper tasks. In this paper, we present findings from a pilot study on using the interactive e-book OpenDSA as the main material in a DSA course. The goal was to redesign an already existing course by building on active learning and continuous examination through the use of OpenDSA. In addition to presenting the study setting, we describe findings from four data sources: final exam, OpenDSA log data, pre and post questionnaires as well as an observation study. The results indicate that students performed better on the exam than during previous years. Students preferred OpenDSA over traditional textbooks and worked actively with the material, although a large proportion of them put off the work until the due date approaches.

  • 32.
    Färnqvist, Tommy
    et al.
    Linköping University, Department of Computer and Information Science, Software and Systems. Linköping University, Faculty of Science & Engineering.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Lambrix, Patrick
    Linköping University, Department of Computer and Information Science, Database and information techniques. Linköping University, The Institute of Technology.
    Mannila, Linda
    Åbo Academy, Finland.
    Wang, Chunyan
    Linköping University, Department of Computer and Information Science.
    Supporting Active Learning Using an Interactive Teaching Tool in a Data Structures and Algorithms Course2015In: Proceedings of 5:e Utvecklingskonferensen för Sveriges ingenjörsutbildningar (UtvSvIng), 2015, p. 76-79Conference paper (Other academic)
    Abstract [en]

    Traditionally, theoretical foundations in data structuresand algorithms (DSA) courses have been covered throughlectures followed by tutorials, where students practise theirunderstanding on pen-and-paper tasks. In this paper, we presentfindings from a pilot study on using the interactive e-bookOpenDSA as the main material in a DSA course. The goal was toredesign an already existing course by building on active learningand continuous examination through the use of OpenDSA. Inaddition to presenting the study setting, we describe findings fromfour data sources: final exam, OpenDSA log data, pre- and postcourse questionnaires as well as an observation study. The resultsindicate that students performed better on the exam than duringprevious years. Students preferred OpenDSA over traditionaltextbooks and worked actively with the material, although alarge proportion of them put off the work until the due dateapproaches.

  • 33.
    Grimsberg, Michaël
    et al.
    Lunds Tekniska Högskola, Sweden.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Kann, Viggo
    Kungliga Tekniska Högskolan, Sweden.
    Erlander Klein, Inger
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Öhrström, Lars
    Chalmers, Sweden.
    Vem styr egentligen grundutbildningen?2015In: Proceedings of 5:e Utvecklingskonferensen för Sveriges ingenjörsutbildningar (UtvSvIng), 2015Conference paper (Refereed)
    Abstract [sv]

    Vi belyser olikheter och likheter i hur grundutbildningen styrs på fyra svenska tekniska högskolor. Vi jämför hur lärare och examinatorer väljs ut, hur medel fördelas och vilken roll programansvariga (eller motsvarande) har. De strukturella skillnaderna är relativt stora med störst autonomi för programansvariga på Chalmers tekniska högskola vilket delvis har att göra med att detta lärosäte lyder under aktiebolagslagen.

  • 34.
    Haresamudram, Kashyap
    et al.
    Lund Univ, Sweden.
    Larsson, Stefan
    Lund Univ, Sweden.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Three Levels of AI Transparency2023In: Computer, ISSN 0018-9162, E-ISSN 1558-0814, Vol. 56, no 2, p. 93-100Article in journal (Refereed)
    Abstract [en]

    The concept of transparency is fragmented in artificial intelligence (AI) research, often limited to transparency of the algorithm alone. We propose that AI transparency operates on three levels-algorithmic, interaction, and social-all of which need to be considered to build trust in AI. We expand upon these levels using current research directions, and identify research gaps resulting from the conceptual fragmentation of AI transparency highlighted within the context of the three levels.

  • 35.
    Hayes, Conor F.
    et al.
    University of Galway.
    Rădulescu, Roxana
    Vrije Universiteit Brussel.
    Bargiacchi, Eugenio
    Vrije Universiteit Brussel.
    Källström, Johan
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Macfarlane, Matthew
    University of Amsterdam.
    Reymond, Mathieu
    Vrije Universiteit Brussel.
    Verstraeten, Timothy
    Vrije Universiteit Brussel.
    Zintgraf, Luisa M.
    University of Oxford.
    Dazeley, Richard
    Deakin University.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Howley, Enda
    University of Galway.
    Irissappane, Athirai A.
    Amazon.
    Mannion, Patrick
    University of Galway.
    Nowé, Ann
    Vrije Universiteit Brussel.
    Ramos, Gabriel
    University of Vale do Rio dos Sinos.
    Restelli, Marcello
    Politecnico di Milano.
    Vamplew, Peter
    Federation University.
    Roijers, Diederik M.
    City of Amsterdam.
    A Brief Guide to Multi-Objective Reinforcement Learning and Planning2023In: Proceedings of the 22nd International Conference on Autonomous Agents and Multiagent Systems (AAMAS) / [ed] A. Ricci, W. Yeoh, N. Agmon, B. An, 2023, p. 1988-1990Conference paper (Refereed)
    Abstract [en]

    Real-world sequential decision-making tasks are usually complex, and require trade-offs between multiple–often conflicting–objectives. However, the majority of research in reinforcement learning (RL) and decision-theoretic planning assumes a single objective, or that multiple objectives can be handled via a predefined weighted sum over the objectives. Such approaches may oversimplify the underlying problem, and produce suboptimal results. This extended abstract outlines the limitations of using a semi-blind iterative process to solve multi-objective decision making problems. Our extended paper [4], serves as a guide for the application of explicitly multi-objective methods to difficult problems.

  • 36.
    Hayes, Conor F.
    et al.
    National University of Ireland Galway, Galway, Ireland.
    Rădulescu, Roxana
    AI Lab, Vrije Universiteit Brussel, Brussels, Belgium.
    Bargiacchi, Eugenio
    AI Lab, Vrije Universiteit Brussel, Brussels, Belgium.
    Källström, Johan
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Macfarlane, Matthew
    AMLAB, University of Amsterdam, Amsterdam, The Netherlands.
    Reymond, Mathieu
    AI Lab, Vrije Universiteit Brussel, Brussels, Belgium.
    Verstraeten, Timothy
    AI Lab, Vrije Universiteit Brussel, Brussels, Belgium.
    Zintgraf, Luisa M.
    WhiRL, University of Oxford, Oxford, United Kingdom.
    Dazeley, Richard
    Deakin University, Geelong, Australia.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Howley, Enda
    National University of Ireland Galway, Galway, Ireland.
    Irissappane, Athirai A.
    University of Washington (Tacoma), Tacoma, USA.
    Mannion, Patrick
    National University of Ireland Galway, Galway, Ireland.
    Nowé, Ann
    AI Lab, Vrije Universiteit Brussel, Brussels, Belgium.
    Ramos, Gabriel
    Universidade do Vale do Rio dos Sinos, São Leopoldo, RS, Brazil.
    Restelli, Marcello
    Politecnico di Milano, Milan, Italy.
    Vamplew, Peter
    Federation University Australia, Ballarat, Australia.
    Roijers, Diederik M.
    HU University of Applied Sciences Utrecht, Utrecht, The Netherlands.
    A practical guide to multi-objective reinforcement learning and planning2022In: Autonomous Agents and Multi-Agent Systems, ISSN 1387-2532, E-ISSN 1573-7454, Vol. 36, no 1, article id 26Article in journal (Refereed)
    Abstract [en]

    Real-world sequential decision-making tasks are generally complex, requiring trade-offs between multiple, often conflicting, objectives. Despite this, the majority of research in reinforcement learning and decision-theoretic planning either assumes only a single objective, or that multiple objectives can be adequately handled via a simple linear combination. Such approaches may oversimplify the underlying problem and hence produce suboptimal results. This paper serves as a guide to the application of multi-objective methods to difficult problems, and is aimed at researchers who are already familiar with single-objective reinforcement learning and planning methods who wish to adopt a multi-objective perspective on their research, as well as practitioners who encounter multi-objective decision problems in practice. It identifies the factors that may influence the nature of the desired solution, and illustrates by example how these influence the design of multi-objective decision-making systems for complex problems.

    Download full text (pdf)
    fulltext
  • 37. Order onlineBuy this publication >>
    Heintz, Fredrik
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    DyKnow: A Stream-Based Knowledge Processing Middleware Framework2009Doctoral thesis, monograph (Other academic)
    Abstract [en]

    As robotic systems become more and more advanced the need to integrate existing deliberative functionalities such as chronicle recognition, motion planning, task planning, and execution monitoring increases. To integrate such functionalities into a coherent system it is necessary to reconcile the different formalisms used by the functionalities to represent information and knowledge about the world. To construct and integrate these representations and maintain a correlation between them and the environment it is necessary to extract information and knowledge from data collected by sensors. However, deliberative functionalities tend to assume symbolic and crisp knowledge about the current state of the world while the information extracted from sensors often is noisy and incomplete quantitative data on a much lower level of abstraction. There is a wide gap between the information about the world normally acquired through sensing and the information that is assumed to be available for reasoning about the world.

    As physical autonomous systems grow in scope and complexity, bridging the gap in an ad-hoc manner becomes impractical and inefficient. Instead a principled and systematic approach to closing the sensereasoning gap is needed. At the same time, a systematic solution has to be sufficiently flexible to accommodate a wide range of components with highly varying demands. We therefore introduce the concept of knowledge processing middleware for a principled and systematic software framework for bridging the gap between sensing and reasoning in a physical agent. A set of requirements that all such middleware should satisfy is also described.

    A stream-based knowledge processing middleware framework called DyKnow is then presented. Due to the need for incremental refinement of information at different levels of abstraction, computations and processes within the stream-based knowledge processing framework are modeled as active and sustained knowledge processes working on and producing streams. DyKnow supports the generation of partial and context dependent stream-based representations of past, current, and potential future states at many levels of abstraction in a timely manner.

    To show the versatility and utility of DyKnow two symbolic reasoning engines are integrated into Dy-Know. The first reasoning engine is a metric temporal logical progression engine. Its integration is made possible by extending DyKnow with a state generation mechanism to generate state sequences over which temporal logical formulas can be progressed. The second reasoning engine is a chronicle recognition engine for recognizing complex events such as traffic situations. The integration is facilitated by extending DyKnow with support for anchoring symbolic object identifiers to sensor data in order to collect information about physical objects using the available sensors. By integrating these reasoning engines into DyKnow, they can be used by any knowledge processing application. Each integration therefore extends the capability of DyKnow and increases its applicability.

    To show that DyKnow also has a potential for multi-agent knowledge processing, an extension is presented which allows agents to federate parts of their local DyKnow instances to share information and knowledge.

    Finally, it is shown how DyKnow provides support for the functionalities on the different levels in the JDL Data Fusion Model, which is the de facto standard functional model for fusion applications. The focus is not on individual fusion techniques, but rather on an infrastructure that permits the use of many different fusion techniques in a unified framework.

    The main conclusion of this thesis is that the DyKnow knowledge processing middleware framework provides appropriate support for bridging the sense-reasoning gap in a physical agent. This conclusion is drawn from the fact that DyKnow has successfully been used to integrate different reasoning engines into complex unmanned aerial vehicle (UAV) applications and that it satisfies all the stated requirements for knowledge processing middleware to a significant degree.

    Download full text (pdf)
    DyKnow: A Stream-Based Knowledge Processing Middleware Framework
    Download (pdf)
    Cover
  • 38.
    Heintz, Fredrik
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    FCFoo992000In: Proceedings of RoboCup-99: Robot Soccer World Cup III (RoboCup), Springer London, 2000, Vol. 1856, p. 563-566Conference paper (Refereed)
    Abstract [en]

    Introduction The emphasis of FCFoo was mainly on building a library for developers of RoboCup teams, designed especially for educational use. After the competition the library was more or less totally rewritten and nally published as part of the Master Thesis of Fredrik Heintz [4]. The agents are built on a layered reactive-deliberative architecture. The four layers describes the agent on dierent levels of abstraction and deliberation. The lowest level is mainly reactive while the others are more deliberate. The teamwork is based on nite automatas and roles. A role is a set of attributes describing some of the behaviour of a player. The decision-making uses decisiontrees to classify the situation and select the appropriate skill to perform. The other two layers are used to calculate the actual command to be sent to the server. The agent architecture and the basic design are inspired by the champions of RoboCup'98, CMUnited [6, 7]. The idea of using decision-trees and role

  • 39.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Semantically Grounded Stream Reasoning Integrated with ROS2013In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE conference proceedings, 2013, p. 5935-5942Conference paper (Refereed)
    Abstract [en]

    High level reasoning is becoming essential to autonomous systems such as robots. Both the information available to and the reasoning required for such autonomous systems is fundamentally incremental in nature. A stream is a flow of incrementally available  information and reasoning over streams is called stream reasoning.  Incremental reasoning over streaming information is  necessary to support a number of important robotics functionalities such as situation awareness, execution monitoring, and decision making.

    This paper presents a practical framework for semantically grounded temporal stream reasoning called DyKnow.  Incremental reasoning over  streams is achieved through efficient progression of temporal logical formulas. The reasoning is semantically grounded through a common ontology and a specification of the semantic content of streams relative to the ontology.  This allows the finding of relevant streams through semantic matching. By using semantic mappings between ontologies it is also possible to do semantic matching over multiple ontologies. The complete stream reasoning framework is integrated in the Robot  Operating System (ROS) thereby extending it with a stream reasoning capability.

    Download full text (pdf)
    fulltext
  • 40.
    Heintz, Fredrik
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Three Interviews About K-12 AI Education in America, Europe, and Singapore2021In: Künstliche Intelligenz, ISSN 0933-1875, E-ISSN 1610-1987, Vol. 35, p. 233-237Article in journal (Other academic)
    Abstract [en]

    As the impact and importance of artificial intelligence (AI) grows, there is a growing trend to teach AI in primary and secondary education (K-12). To provide an international perspective, we have conducted three interviews with practitioners and policy makers from AI4K12 in the US (D. Touretzky, C. Gardner-McCune, and D. Seehorn), from Singapore (L. Liew) and from the European Commission (F. Benini).

  • 41.
    Heintz, Fredrik
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, Faculty of Science & Engineering.
    Berglund, Aseel
    Linköping University, Department of Computer and Information Science, Software and Systems. Linköping University, Faculty of Science & Engineering.
    Hedin, Björn
    KTH, Stockholm, Sweden.
    Kann, Viggo
    KTH, Stockholm, Sweden.
    En jämförelse mellan programsamanhållande kurser vid KTH och LiU2015In: Proceedings of 5:e Utvecklingskonferensen för Sveriges ingenjörsutbildningar (UtvSvIng), 2015Conference paper (Other academic)
    Abstract [sv]

    Programsammanhållande kurser där studenter från årskurs 1-3 gemensamt reflekterar över teman med koppling till deras studier och framtida yrkesliv finns på både KTH och Linköpings universitet (LiU). Syftet med kurserna är främst att skapa en helhet i utbildningen och ge förståelse för vad den leder till, genom att få studenterna att reflektera över sina studier och sin kommande yrkesroll. Detta leder förhoppningsvis till ökad genomströmning och minskade avhopp. Kurserna har gemensamt ursprung men har utvecklats i olika riktningar. Artikeln jämför tre programsammanhållande kurser för Datateknik KTH, Medieteknik KTH samt Data- och mjukvaruteknik Linköpings universitet.

  • 42.
    Heintz, Fredrik
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology.
    de Leng, Daniel
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems. Linköping University, The Institute of Technology. Utrecht University, The Netherlands.
    Semantic Information Integration with Transformations for Stream Reasoning2013In: 16th International Conference on Information Fusion, IEEE , 2013, p. 445-452Conference paper (Refereed)
    Abstract [en]

    The automatic, on-demand, integration of information from multiple diverse sources outside the control of the application itself is central to many fusion applications. An important problem is to handle situations when the requested information is not directly available but has to be generated or adapted through transformations. This paper extends the semantic information integration approach used in the stream-based knowledge processing middleware DyKnow with support for finding and automatically applying transformations. Two types of transformations are considered. Automatic transformation between different units of measurements and between streams of different types. DyKnow achieves semantic integration by creating a common ontology, specifying the semantic content of streams relative to the ontology and using semantic matching to find relevant streams. By using semantic mappings between ontologies it is also possible to do semantic matching over multiple ontologies. The complete stream reasoning approach is integrated in the Robot Operating System (ROS) and used in collaborative unmanned aircraft systems missions.

    Download full text (pdf)
    fulltext
  • 43.
    Heintz, Fredrik
    et al.
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    de Leng, Daniel
    Linköping University, Department of Computer and Information Science, Artificial Intelligence and Integrated Computer Systems. Linköping University, The Institute of Technology.
    Spatio-Temporal Stream Reasoning with Incomplete Spatial Information2014In: Proceedings of the Twenty-first European Conference on Artificial Intelligence (ECAI'14), August 18-22, 2014, Prague, Czech Republic / [ed] Torsten Schaub, Gerhard Friedrich and Barry O'Sullivan, IOS Press, 2014, p. 429-434Conference paper (Refereed)
    Abstract [en]

    Reasoning about time and space is essential for many applications, especially for robots and other autonomous systems that act in the real world and need to reason about it. In this paper we present a pragmatic approach to spatio-temporal stream reasoning integrated in the Robot Operating System through the DyKnow framework. The temporal reasoning is done in the Metric Temporal Logic and the spatial reasoning in the Region Connection Calculus RCC-8. Progression is used to evaluate spatio-temporal formulas over incrementally available streams of states. To handle incomplete information the underlying first-order logic is extended to a three-valued logic. When incomplete spatial information is received, the algebraic closure of the known information is computed. Since the algebraic closure might have to be re-computed every time step, we separate the spatial variables into static and dynamic variables and reuse the algebraic closure of the static variables, which reduces the time to compute the full algebraic closure. The end result is an efficient and useful approach to spatio-temporal reasoning over streaming information with incomplete information.

    Download full text (pdf)
    Spatio-Temporal Stream Reasoning with Incomplete Spatial Information
  • 44.
    Heintz, Fredrik
    et al.
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    Doherty, Patrick
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    A knowledge processing middleware framework and its relation to the JDL data fusion model2006In: Journal of Intelligent & Fuzzy Systems, ISSN 1064-1246, E-ISSN 1875-8967, Vol. 17, no 4, p. 335-351Article in journal (Refereed)
    Abstract [en]

    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 and to supply such state information to other nodes in the distributed network in which it is embedded. These structures must be managed and made accessible to deliberative and reactive functionalities whose successful operation is dependent on being situationally aware of the changes in both the robotic agent's embedding and internal environments. DyKnow is a knowledge processing middleware framework which provides a set of functionalities for contextually creating, storing, accessing and processing such structures. The framework is implemented and has been deployed as part of 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 to create more abstract entity and state representations of the world which can then be used for situation awareness by an unmanned aerial vehicle in achieving mission goals. We also show that the framework is a working instantiation of many aspects of the JDL data fusion model.

  • 45.
    Heintz, Fredrik
    et al.
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    Doherty, Patrick
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    A knowledge processing middleware framework and its relation to the JDL data fusion model.2005In: The 8th International Conference on Information Fusion,2005, 2005Conference paper (Refereed)
    Abstract [en]

      

  • 46.
    Heintz, Fredrik
    et al.
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    Doherty, Patrick
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    A Knowledge processing Middleware Framework and its Relation to the JDL Data Fusion model2005In: 3rd joint SAIS-SSL event on Artificial Intelligence an Learning Systems,2005, Västerås: Mälardalens University , 2005, p. 68-Conference paper (Refereed)
  • 47.
    Heintz, Fredrik
    et al.
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    Doherty, Patrick
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    A Knowledge processing Middleware Framework and its Relation to the JDL Data Fusion model2005In: SWAR 05,2005, 2005, p. 50-51Conference paper (Other academic)
  • 48.
    Heintz, Fredrik
    et al.
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Doherty, Patrick
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Chronicle Recognition in the WITAS UAV Project: A Preliminary Report2001In: Proceedings of the Swedish AI Society Workshop, 2001Conference paper (Refereed)
    Abstract [en]

    This paper describes the chronicle recognition problem and reports its status in the WITAS UAV project. We describe how we use the IxTeT chronicle recognition system to define chronicles (scenarios or situations), like a vehicle passing another vehicle, and how it is incorporated in the WITAS architecture. We also discuss known problems with the current system and possible directions of future research.

  • 49.
    Heintz, Fredrik
    et al.
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    Doherty, Patrick
    Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
    DyKnow: A Framework for Processing Dynamic Knowledge and Object Structures in Autonomous Systems2004In: Proceedings of the Second Joint SAIS/SSLS Workshop, 2004Conference paper (Refereed)
  • 50.
    Heintz, Fredrik
    et al.
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    Doherty, Patrick
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab.
    DyKnow: A Framework for Processing Dynamic Knowledge and Object Structures in Autonomous Systems2004In: Proceedings of the International Workshop on Monitoring, Security, and Rescue Techniques in Multi-Agent Systems (MSRAS) / [ed] Barbara Dunin-Keplicz, Andrzej Jankowski, Andrzej Skowron, Marcin Szczuka, Springer, 2004, p. 479-492Conference paper (Refereed)
    Abstract [en]

    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.

123 1 - 50 of 131
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf