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World modeling for autonomous systems

: Gheta, I.; Heizmann, M.; Belkin, A.; Beyerer, J.

Preprint urn:nbn:de:0011-n-1415232 (371 KByte PDF)
MD5 Fingerprint: c48ec5686abc73bcf239522aba5b2322
The original publication is available at
Erstellt am: 14.6.2012

Dillmann, R.; Beyerer, J.; Aziz, Z.:
KI 2010: Advances in artificial intelligence. 33rd Annual German Conference on AI : Karlsruhe, Germany, September 21 -24, 2010, proceedings
Berlin: Springer, 2010 (Lecture Notes in Artificial Intelligence 6359)
ISBN: 978-3-642-16110-0
ISBN: 3-642-16110-3
ISSN: 0302-9743
German Conference on Artificial Intelligence (KI) <33, 2010, Karlsruhe>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

This contribution proposes a universal, intelligent information storage and management system for autonomous systems, e.g., robots. The proposed system uses a three pillar information architecture consisting of three distinct components: prior knowledge, environment model, and real world. In the center of the architecture, the environment model is situated, which constitutes the fusion target for prior knowledge and sensory information from the real world. The environment model is object oriented and comprehensively models the relevant world of the autonomous system, acting as an information hub for sensors (information sources) and cognitive processes (information sinks). It features mechanisms for information exchange with the other two components. A main characteristic of the system is that it models uncertainties by probabilities, which are handled by a Bayesian framework including instantiation, deletion and update procedures. The information can be accessed on different abstraction levels, as required. For ensuring validity, consistence, relevance and actuality, information check and handling mechanisms are provided.