Grounding oriented design

Stanton, CJ

Grounding oriented design

Stanton, CJ

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Publication Type:: Thesis
Issue Date:: 2007

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Field	Value	Language
dc.contributor.author	Stanton, CJ
dc.date.accessioned	2014-09-26T03:36:03Z
dc.date.available	2014-09-26T03:36:03Z
dc.date.issued	2007
dc.identifier.uri	http://hdl.handle.net/10453/29873
dc.description	University of Technology, Sydney. Faculty of Information Technology.	en_US
dc.description.abstract	The symbol grounding problem[67] is a longstanding, poorly understood issue that has interested philosophers, computer scientists, and cognitive scientists alike. The grounding problem, in its various guises, refers to the task of creating meaningful representations for artificial agents. After more than 15 years of widespread debate and circular introspection of the so-called symbol grounding problem we seem none-the-wiser as to what constitutes being meaningful, and indeed grounded, for an agent[l28]. We argue, in the context of practical robotics, a grounded agent possesses a representation which faithfully reflects pertinent aspects of the world. In contrast, an ungrounded agent could be, for example, delusional or suffering from hallucinations ("false positives"), overly concerned with irrelevant things (e.g. the frame problem[93]), or incapable of reliably perceiving, recognising or anticipating relevant things in a timely manner ("false negatives"). While most grounding research concerns how to develop agents which can autonomously develop their own representations (i.e. autonomous grounding), the fact all robotic systems are grounded through human design on a case-by-case, ad-hoc bass has been overlooked. This thesis presents Grounding Oriented Design - a methodology for designing and grounding the "minds" of robotic agents. Grounding Oriented Design (or, alternatively Go-Design) is a vital first step towards the development of autonomous grounding capabilities through improved understanding of the processes by which human designers ground robot minds. Grounding Oriented Design offers guidelines and processes for iteratively decomposing a robot control problem into a set of collaborating skills, together with a notation for representing and documenting skill designs. Grounding Oriented Design consists of two main phases: basic-design which involves constructing a skill-architecture, and a detailed-design in which a skill-architecture is used to design the agent's representation and decision-making processes. A groundedness framework[l43] is used for describing and assessing the groundedness of either the complete system or of individual skills. Examples of the methodology's use and benefits are provided, while suggestions for future work are discussed.	en_US
dc.format	Thesis (PhD)	en_US
dc.language.iso	en	en_US
dc.relation	https://opus.lib.uts.edu.au/bitstream/10453/29873/9/02Whole.pdf
dc.rights	The author owns the copyright in this thesis including all reproduction and reuse rights for the work. The work may not be altered without the permission of the copyright owner. Attribution is essential when quoting or paraphrasing from this thesis.
dc.rights	au.edu.uts.lib/ppc
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Autonomous robots.	en
dc.subject	Control systems.	en
dc.subject	Artificial intelligence.	en
dc.title	Grounding oriented design	en_US
dc.type	Thesis
utslib.copyright.status	open_access

Abstract:

The symbol grounding problem[67] is a longstanding, poorly understood issue that has interested philosophers, computer scientists, and cognitive scientists alike. The grounding problem, in its various guises, refers to the task of creating meaningful representations for artificial agents. After more than 15 years of widespread debate and circular introspection of the so-called symbol grounding problem we seem none-the-wiser as to what constitutes being meaningful, and indeed grounded, for an agent[l28]. We argue, in the context of practical robotics, a grounded agent possesses a representation which faithfully reflects pertinent aspects of the world. In contrast, an ungrounded agent could be, for example, delusional or suffering from hallucinations ("false positives"), overly concerned with irrelevant things (e.g. the frame problem[93]), or incapable of reliably perceiving, recognising or anticipating relevant things in a timely manner ("false negatives"). While most grounding research concerns how to develop agents which can autonomously develop their own representations (i.e. autonomous grounding), the fact all robotic systems are grounded through human design on a case-by-case, ad-hoc bass has been overlooked. This thesis presents Grounding Oriented Design - a methodology for designing and grounding the "minds" of robotic agents. Grounding Oriented Design (or, alternatively Go-Design) is a vital first step towards the development of autonomous grounding capabilities through improved understanding of the processes by which human designers ground robot minds. Grounding Oriented Design offers guidelines and processes for iteratively decomposing a robot control problem into a set of collaborating skills, together with a notation for representing and documenting skill designs. Grounding Oriented Design consists of two main phases: basic-design which involves constructing a skill-architecture, and a detailed-design in which a skill-architecture is used to design the agent's representation and decision-making processes. A groundedness framework[l43] is used for describing and assessing the groundedness of either the complete system or of individual skills. Examples of the methodology's use and benefits are provided, while suggestions for future work are discussed.

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