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Patrick Doherty

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2014
[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.

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.
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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.
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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
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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.