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Patrick Doherty

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2015
[17] Martin Danelljan, Fahad Shahbaz Khan, Michael Felsberg, Karl Granström, Fredrik Heintz, Piotr Rudol, Mariusz Wzorek, Jonas Kvarnström and Patrick Doherty. 2015.
A Low-Level Active Vision Framework for Collaborative Unmanned Aircraft Systems.
In Lourdes Agapito, Michael M. Bronstein and Carsten Rother, editors, Computer Vision - ECCV 2014 Workshops, Zurich, Switzerland, September 6-7 and 12, pages 223–237. In series: Lecture Notes in Computer Science #8925. Springer Publishing Company. ISBN: 978-3-319-16177-8 (print), 978-3-319-16178-5 (online).
DOI: 10.1007/978-3-319-16178-5_15.

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

[16] Patrick Doherty and Andrzej Szalas. 2015.
Stability, Supportedness, Minimality and Kleene Answer Set Programs.
In Thomas Eiter, Hannes Strass, MirosĹ‚aw Truszczynski, Stefan Woltran, editors, Advances in Knowledge Representation, Logic Programming, and Abstract Argumentation: Essays Dedicated to Gerhard Brewka on the Occasion of His 60th Birthday, pages 125–140. In series: Lecture Notes in Computer Science #9060. Springer.
DOI: 10.1007/978-3-319-14726-0_9.

Answer Set Programming is a widely known knowledge representation framework based on the logic programming paradigm that has been extensively studied in the past decades. The semantic framework for Answer Set Programs is based on the use of stable model semantics. There are two characteristics intrinsically associated with the construction of stable models for answer set programs. Any member of an answer set is supported through facts and chains of rules and those members are in the answer set only if generated minimally in such a manner. These two characteristics, supportedness and minimality, provide the essence of stable models. Additionally, answer sets are implicitly partial and that partiality provides epistemic overtones to the interpretation of disjunctiver ules and default negation. This paper is intended to shed light on these characteristics by defining a semantic framework for answer set programming based on an extended first-order Kleene logic with weak and strong negation. Additionally, a definition of strongly supported models is introduced, separate from the minimality assumption explicit in stable models. This is used to both clarify and generate alternative semantic interpretations for answer set programs with disjunctive rules in addition to answer set programs with constraint rules. An algorithm is provided for computing supported models and comparative complexity results between strongly supported and stable model generation are provided.

2014
[15] Full text  Patrick Doherty, Jonas Kvarnström, Mariusz Wzorek, Piotr Rudol, Fredrik Heintz and Gianpaolo Conte. 2014.
HDRC3 - A Distributed Hybrid Deliberative/Reactive Architecture for Unmanned Aircraft Systems.
In Kimon P. Valavanis, George J. Vachtsevanos, editors, Handbook of Unmanned Aerial Vehicles, pages 849–952. Springer Science+Business Media B.V.. ISBN: 978-90-481-9706-4, 978-90-481-9707-1.
DOI: 10.1007/978-90-481-9707-1_118.
Find book at a Swedish library/Hitta boken i ett svenskt bibliotek: http://libris.kb.se/bib/16541662
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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.

[14] Oleg Burdakov, Patrick Doherty and Jonas Kvarnström. 2014.
Local Search for Hop-constrained Directed Steiner Tree Problem with Application to UAV-based Multi-target Surveillance.
In Butenko, S., Pasiliao, E.L., Shylo, V., editors, Examining Robustness and Vulnerability of Networked Systems, pages 26–50. In series: NATO Science for Peace and Security Series - D: Information and Communication Security #Volume 37. IOS Press. ISBN: 978-1-61499-390-2 (print), 978-1-61499-391-9 (online).
DOI: 10.3233/978-1-61499-391-9-26.
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We consider the directed Steiner tree problem (DSTP) with a constraint on the total number of arcs (hops) in the tree. This problem is known to be NP-hard, and therefore, only heuristics can be applied in the case of its large-scale instances.For the hop-constrained DSTP, we propose local search strategies aimed at improving any heuristically produced initial Steiner tree. They are based on solving a sequence of hop-constrained shortest path problems for which we have recently developed efficient label correcting algorithms.The presented approach is applied to finding suitable 3D locations where unmanned aerial vehicles (UAVs) can be placed to relay information gathered in multi-target monitoring and surveillance. The efficiency of our algorithms is illustrated by results of numerical experiments involving problem instances with up to 40 000 nodes and up to 20 million arcs.

2012
[13] Patrick Doherty and John-Jules Ch. Meyer. 2012.
On the Logic of Delegation - Relating Theory and Practice.
In Fabio Paglieri, Luca Tummolini, Rino Falcone, Maria Miceli, editors, The Goals of Cognition: Essays in honour of Cristiano Castelfranchi, pages 467–496. College Publications. ISBN: 978-1848900943.
Find book in another country/Hitta boken i ett annat land: http://www.worldcat.org/search?q=978-184...

Research with collaborative robotic systems has much to gain by leveraging concepts and ideas from the areas of multi-agent systems and the social sciences. In this paper we propose an approach to formalizing and grounding important aspects of collaboration in a collaborative system shell for robotic systems. This is done primarily in terms of the concept of delegation, where delegation will be instantiated as a speech act. The formal characterization of the delegation speech act is based on a preformal theory of delegation proposed by Falcone and Castelfranchi. We show how the delegation speech act can in fact be used to formally ground an abstract characterization of delegation into a FIPA-compliant implementation in an agent-oriented language such as JADE, as part of a collaborative system shell for robotic systems. The collaborative system shell has been developed as a prototype and used in collaborative missions with multiple unmanned aerial vehicle systems.

[12] Full text  Patrick Doherty, Fredrik Heintz and David LandĂ©n. 2012.
A Distributed Task Specification Language for Mixed-Initiative Delegation.
In Nirmit Desai, Alan Liu, Michael Winikoff, editors, Principles and Practice of Multi-Agent Systems: 13th International Conference, PRIMA 2010, Kolkata, India, November 12-15, 2010, Revised Selected Papers, pages 42–57. In series: Lecture Notes in Computer Science #7057. Springer Berlin/Heidelberg. ISBN: 978-3-642-25919-7, e-978-3-642-25920-3.
DOI: 10.1007/978-3-642-25920-3_4.

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.

[11] Full text  David LandĂ©n, Fredrik Heintz and Patrick Doherty. 2012.
Complex Task Allocation in Mixed-Initiative Delegation: A UAV Case Study.
In Nirmit Desai, Alan Liu, Michael Winikoff, editors, Principles and Practice of Multi-Agent Systems: 13th International Conference, PRIMA 2010, Kolkata, India, November 12-15, 2010, Revised Selected Papers, pages 288–303. In series: Lecture Notes in Computer Science #7057. Springer Berlin/Heidelberg. ISBN: 978-3-642-25919-7, e-978-3-642-25920-3.
DOI: 10.1007/978-3-642-25920-3_20.

Unmanned aircraft systems (UASs) are now becoming technologically mature enough to be integrated into civil society. An essential issue is principled mixed-initiative interaction between UASs and human operators. Two central problems are to specify the structure and requirements of complex tasks and to assign platforms to these tasks. We have previously proposed Task Specification Trees (TSTs) as a highly expressive specification language for complex multi-agent tasks that supports mixed-initiative delegation and adjustable autonomy. The main contribution of this paper is a sound and complete distributed heuristic search algorithm for allocating the individual tasks in a TST to platforms. The allocation also instantiates the parameters of the tasks such that all the constraints of the TST are satisfied. Constraints are used to model dependencies between tasks, resource usage as well as temporal and spatial requirements on complex tasks. Finally, we discuss a concrete case study with a team of unmanned aerial vehicles assisting in a challenging emergency situation.

2011
[10] Full text  Patrick Doherty, Fredrik Heintz and David LandĂ©n. 2011.
A Delegation-Based Architecture for Collaborative Robotics.
In Danny Weyns and Marie-Pierre Gleizes, editors, Agent-Oriented Software Engineering XI: 11th International Workshop, AOSE 2010, Toronto, Canada, May 10-11, 2010, Revised Selected Papers, pages 205–247. In series: Lecture Notes in Computer Science #6788. Springer Berlin/Heidelberg. ISBN: 978-3-642-22635-9.
DOI: 10.1007/978-3-642-22636-6_13.
Find book in another country/Hitta boken i ett annat land: http://www.worldcat.org/search?q=978-3-6...
find book at a swedish library/hitta boken i ett svenskt bibliotek: http://libris.kb.se/bib/12509689

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.

2009
[9] Full text  Patrick Doherty and Jonas Kvarnström. 2009.
Temporal Action Logics.
In V. Lifschitz, F. van Harmelen, and F. Porter, editors, Handbook of Knowledge Representation, pages 709–757. In series: Foundations of Artificial Intelligence #3. Elsevier. ISBN: 978-0-444-52211-5.
DOI: 10.1016/S1574-6526(07)03018-0.
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The study of frameworks and formalisms for reasoning about action and change [67, 58, 61, 65, 70, 3, 57] has been central to the knowledge representation field almost from the inception of Artificial Intelligence as a general field of research [52, 56]. The phrase “Temporal Action Logics” represents a class of logics for reasoning about action and change that evolved from Sandewall’s book on Features and Fluents [61] and owes much to this ambitious project. There are essentially three major parts to Sandewall’s work. He first developed a narrative-based logical framework for specifying agent behavior in terms of action scenarios. The logical framework is state-based and uses explicit time structures. He then developed a formal framework for assessing the correctness (soundness and completeness) of logics for reasoning about action and change relative to a set of well-defined intended conclusions, where reasoning problems were classified according to their ontological or epistemological characteristics. Finally, he proposed a number of logics defined semantically in terms of definitions of preferential entailment1 and assessed their correctness using his assessment framework.

2004
[8] Patrick Doherty, Jaroslaw Kachniarz and Andrzej Szalas. 2004.
Using Contextually Closed Queries for Local Closed-World Reasoning in Rough Knowledge Databases.
In Andrzej Skowron,Lech Polkowski ,Sankar K Pal, editors, Rough-Neural Computing: Techniques for Computing with Words, pages 219–250. In series: Cognitive Technologies #??. Springer. ISBN: 978-3-540-43059-9, 35-4043-059-8.
find book at a swedish library/hitta boken i ett svenskt bibliotek: http://libris.kb.se/bib/14144444
find book in another country/hitta boken i ett annat land: http://www.worldcat.org/title/rough-neur...

Soft computing comprises various paradigms dedicated to approximately solving real-world problems, e.g., in decision making, classification or learning; among these paradigms are fuzzy sets, rough sets, neural networks, and genetic algorithms.It is well understood now in the soft computing community that hybrid approaches combining various paradigms provide very promising attempts to solving complex problems. Exploiting the potential and strength of both neural networks and rough sets, this book is devoted to rough-neurocomputing which is also related to the novel aspect of computing based on information granulation, in particular to computing with words. It provides foundational and methodological issues as well as applications in various fields.

[7] Patrick Doherty, Witold Lukaszewicz, Andrzej Skowron and Andrzej Szalas. 2004.
Approximation Transducers and Trees: A Technique for Combining Rough and Crisp Knowledge.
In Andrzej Skowron,Lech Polkowski ,Sankar K Pal, editors, Rough-Neural Computing: Techniques for Computing with Words, pages 189–218. In series: Cognitive Technologies #??. Springer. ISBN: 978-3-540-43059-9, 35-4043-059-8.
find book at a swedish library/hitta boken i ett svenskt bibliotek: http://libris.kb.se/bib/14144444
find book in another country/hitta boken i ett annat land: http://www.worldcat.org/search?qt=worldc...

Soft computing comprises various paradigms dedicated to approximately solving real-world problems, e.g., in decision making, classification or learning; among these paradigms are fuzzy sets, rough sets, neural networks, and genetic algorithms.It is well understood now in the soft computing community that hybrid approaches combining various paradigms provide very promising attempts to solving complex problems. Exploiting the potential and strength of both neural networks and rough sets, this book is devoted to rough-neurocomputing which is also related to the novel aspect of computing based on information granulation, in particular to computing with words. It provides foundational and methodological issues as well as applications in various fields.

2002
[6] John-Jules Meyer and Patrick Doherty. 2002.
Preferential Action Semantics.
In John-Jules Ch Meyer; Jan Treur, editor, Handbook of Defeasible Reasoning and Uncertainty Management Systems: Volume 7:: Agent-Based Defeasible Control in Dynamic Environments. In series: Handbook of Defeasible Reasoning and Uncertainty Management Systems #7. Kluwer. ISBN: 978-1-4020-0834-4, 14-02-0-0834-1.
find book in another country/hitta boken i ett annat land: http://www.worldcat.org/search?q=Handboo...

This last volume of the Handbook of Defeasible Reasoning and Uncertainty Management Systems is - together with Volume 6 - devoted to the topics Reasoning and Dynamics, covering both the topics of \"Dynamics of Reasoning,\" where reasoning is viewed as a process, and \"Reasoning about Dynamics,\" which must be understood as pertaining to how both designers of, and agents within dynamic systems may reason about these systems. The present volume presents work done in this context and is more focused on \"reasoning about dynamics,\" viz. how (human and artificial) agents reason about (systems in) dynamic environments in order to control them. In particular modelling frameworks and generic agent models for modelling these dynamic systems and formal approaches to these systems such as logics for agents and formal means to reason about agent-based and compositional systems, and action & change more in general are considered.

1996
[5] Patrick Doherty and Witold Lukaszewicz. 1996.
A study in modal embeddings of NML3.
In Patrick Doherty, editor, Partiality, Modality, and Nonmonotonicity, Studies in Logic, Language and Information., pages 145–168. CSLI Publications. ISBN: 1-57586-031-7 (inb.), 1-57586-030-9 (hft.).

1994
[4] Patrick Doherty and Witold Lukaszewicz. 1994.
Circumscribing features and fluents.
In Dov M. Gabbay and Hans JĂĽrgen Ohlbach, editors, Temporal Logic: First International Conference, ICTL'94 Bonn, Germany, July 11–14, 1994 Proceedings, pages 82–100. In series: Lecture Notes in Computer Science #827. Springer Berlin/Heidelberg. ISBN: 3-540-58241-X (Berlin), 0-387-58241-X (New York).
DOI: 10.1007/BFb0013982.

Sandewall has recently proposed a systematic approach to the representation of knowledge about dynamical systems that includes a general framework in which to assess the range of applicability of existing and new logics for action and change and to provide a means of studying whether and in what sense the logics of action and change are relevant for intelligent agents. As part of the framework, a number of logics of preferential entailment are introduced and assessed for particular classes of action scenario descriptions. This paper provides syntactic characterizations of several of these relations of preferential entailment in terms of standard FOPC and circumscription axioms. The intent is to simplify the process of comparison with existing formalisms which use more traditional techniques and to provide a basis for studying the feasibility of compiling particular classes of problems into logic programs.

1993
[3] Patrick Doherty and Dimiter Driankov. 1993.
Nonmonotonicity, fuzziness, and multi-values.
In R. Lowen and M. Roubens, editors, Fuzzy Logic: State of the Art. Series D: System Theory, Knowledge Engineering and Problem Solving.. In series: Volume 12 #12. Kluwer Academic Publishers. ISBN: 0792323246, 9780792323242.

1992
[2] Patrick Doherty and Witold Lukaszewicz. 1992.
Distinguishing between facts and default assumptions.
In W. van der Hoek, editor, Non-Monotonic Reasoning and Partial Semantics. Ellis Horwood Workshops.. Ellis Horwood Ltd.. ISBN: 0136251463, 9780136251460.

[1] Dimiter Driankov and Patrick Doherty. 1992.
A non-monotonic fuzzy logic.
In Lotfi A. Zadeh, Janusz Kacprzyk, editors, Fuzzy Logic for the Management of Uncertainty, pages 171–190. John Wiley & Sons. ISBN: 0-471-54799-9.