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IIIM fyrirlestur: Programming Robotic Agents: A Multi-tasking Teleo-Reactive Approach

  • 24.9.2015, 14:00 - 15:00
Time and place: 

Thursday the 24th of September at 14:00 in room V102

Speaker: Keith Clark, Imperial College London,University of Queensland, University New South Wales (joint work with Peter Robinson, University of Queensland)

Abstract: We present a multi-threaded/multi-tasking message communicating robotic agent architecture in which the concurrently executing tasks are programmed in TeleoR, a major extension of Nilsson's Teleo-Reactive Procedures (TR) guard ~> action rule language for robotic agents (see rule guards query rapidly changing percept facts, and more slowly changing told and remembered facts in the agent's deductive BeliefStore,using fixed facts, relation and function rules which are the agent's declarative knowledge. The TR procedures are its behavioural knowledge. TRoperational semantics makes the language well suited to robot/robot or human/robot co-operative tasks.TeleoR extends TR in:being typed and higher order,having a typed higher order LP/FP language, QuLog, for encoding declarative knowledge,having extra forms of rules and actions for concisely expressing improved behavioural knowledge,having task atomic procedures to encoding in a high level way the sharing of multiple robotic resources by an agent engaged in several concurrently executed tasks. Its multi-tasking use is illustrated in the simulation video at in which one agent alternates the use of two robotic arms to concurrently build four towers of blocks with help or hindrance. The declarative and behavioural knowledge of that agent will be introduced. TeleoR is being used at UNSW to control a Baxter robot working with a person concurrently engaged in several assembly tasks. The video shows essentially the same TeleoR program of the simulation being used to control the Baxter via ROS.

Bio: Keith Clark  

Brief Bio 

Emeritus Professor,
Imperial College Honorary Professor, University of Queensland, University of New South Wales.
Keith Clark has been associated with the Department of Computing, Imperial College since 1975 when he joined Robert Kowalski to create the Logic Programming Section, now the Logic and AI Section. 

1970s research 

This was was primarily in the theory and practice of logic programming.His most cited paper is from this period: ”Negation as Failure" (1978) with over 2700 citations. 

1980s research 

In 1981, with Steve Gregory, he introduced the concepts of committed choice non determinism and stream communicating and-parallelism into logic programming, the computation paradigm adopted by the Japanese Fifth Generation project. The GHC language of the Japanese Fifth Generation Project of the 1980s, for which several specialized parallel computers were built, was essentially a syntactic variant of the Parlog language of Clark and Gregory.

Post 1990 research 

Design and implementation of multi-threaded programming languages, still with a declarative emphasis, and their use for multi-agent systems and cognitive robotics applications. The outcome has been a series of languages and tools, developed either with Frank McCabe or Peter Robinson, culminating in:

• Qu-Prolog (2000), a multi-threaded Prolog with support for constraint handling and sound first order inference,
• Go! (2003), a class based concurrent OO LP/FP language with code migration between logical agents
• TeleoR (2013), a higher order typed robot agent programming language for multi-tasking robotic agents
• QuLog (2014), an integrated higher order flexibly typed logic+functional programming language with an imperative action rule language for agent behaviour programming,
• Pedro (2010), Prolog technology publish/subscribe communications server with Python, C, Java and QuLog APIs.

Visiting positions 

He has had Visiting Professor positions, and taught courses at: Stanford University,University of California, Syracuse University, Uppsala University and Stockholm University.

Industrial Experience

With Frank McCabe, in 1980 he founded Logic Programming Associates to implement and distribute Prolog systems and Prolog based application development tools for personal computers. The star product was MacProlog, the first Prolog system to have advance GUI primitives as provided on a Mac.He has consulted for the Japanese Fifth Generation Project, Hewlett Packard, IBM,ICL, Fujitsu and two start-ups, one in Sweden and one in California.


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