BDIアーキテクチャによるキャンパス内郵便配送の実現
Toward Campus Mail Delivery Using BDI
ROSとBDI推論システムを連携させ、実環境のトンネル内で郵便を配送するロボットエージェントを構築し、ハードウェアとソフトウェアの統合ループを実現した。
著者: Chidiebere Onyedinma, Patrick Gavigan, Babak Esfandiari
分類: cs.MA, cs.AI, cs.RO
原文アブストラクト
Autonomous systems developed with the Belief-Desire-Intention (BDI) architecture are usually mostly implemented in simulated environments. In this project we sought to build a BDI agent for use in the real world for campus mail delivery in the tunnel system at Carleton University. Ideally, the robot should receive a delivery order via a mobile application, pick up the mail at a station, navigate the tunnels to the destination station, and notify the recipient. We linked the Robot Operating System (ROS) with a BDI reasoning system to achieve a subset of the required use cases. ROS handles the low-level sensing and actuation, while the BDI reasoning system handles the high-level reasoning and decision making. Sensory data is orchestrated and sent from ROS to the reasoning system as perceptions. These perceptions are then deliberated upon, and an action string is sent back to ROS for interpretation and driving of the necessary actuator for the action to be performed. In this paper we present our current implementation, which closes the loop on the hardware-software integration, and implements a subset of the use cases required for the full system.
