Corso di Dottorato A.A. 2001/2002 Title: Cognitive Robotics Course home-page: http://www.dis.uniroma1.it/~degiacomo/CogRobCourse01 Instructors: Yves Lesperance (York University, Toronto, Canada) Giuseppe De Giacomo Daniele Nardi Fiora Pirri Description: Cognitive robotics is the study of the knowledge representation and reasoning problems faced by an autonomous agent in a dynamic and incompletely known world. It can also be thought of as an attempt to make cognition more relevant to robotic control. The course provides an overview of some current research in this area, including a more in-depth look at the Situation Calculus-based approach. The course is organized in 9 lectures of 2 hours each plus 2 hours of students seminars. The evaluation of the students taking the course for credit will be based on a seminar given by the student on a research topic selected in consultation with the instructors. Schedule: (all December Lectures are in Room C2 from 14:30 to 16:30) Lecture 1 (5/12/01 - Lesperance): Cognitive robotics: an overview Main Readings/References: [1,Ch. 1], also [3] and [4] Lecture 2 (6/12/01 - Lesperance): Introduction to the Situation Calculus Readings/References: [1,Ch. 3] Lecture 3 (7/12/01 - Lesperance/De Giacomo): High-level programming in the Situation Calculus: Golog and ConGolog Readings/References: [2], also [1, Ch. 6] Lecture 4 (7/5/02 - Nardi): Architectures for Cognitive Robotics Readings/References: [9] [10] Lecture 5 (9/5/02 - Nardi): Coordination in multi-robot systems Readings/References: [11] [12] [13]. Lecture 6 (14/5/02 - Pirri): Probabilistic SitCalc Readings/References: [8] and others to be announced Lecture 7 (15/5/02 - Pirri): Probabilistic SitCalc Readings/References: [8] and others to be announced Lecture 8 (17/5/02 - De Giacomo): Golog/ConGolog Transition semintics, concurrency Readings/References: [2] Lecture 9 (17/5/02) - De Giacomo/Lesperance): Online vs offline execution, sensing search, and epistemical feasability Readings/References: [5] [6] [7]. Lecture 10 (??/6/02 - All): Seminar presentations Course Material: [1] R. Reiter, Knowledge in Action: Logical Foundations for Specifying and Implementing Dynamical Systems. MIT Press, 2001. [2] G. De Giacomo, Y. Lespérance, and H.J. Levesque. ConGolog, a concurrent programming language based on the situation calculus. Artificial Intelligence, 121, 109-169, 2000. [3] Y. Lespérance and H.-K. Ng. Integrating Planning into Reactive High-Level Robot Programs. In Proceedings of the Second International Cognitive Robotics Workshop, 49-54, Berlin, Germany, August, 2000. [4] Y. Lespérance, K. Tam, M. Jenkin. Reactivity in a Logic-Based Robot Programming Framework. ATAL 1999: 173-187 [5] G. De Giacomo, H. J. Levesque. An incremental interpreter for high-level programs with sensing. In Logical Foundation for Cognitive Agents: Contributions in Honor of Ray Reiter, Hector J. Levesque and Fiora Pirri, editors, pages 86-102, Springer 1999. [6] G. De Giacomo, R. Reiter and M. Soutchanski. Execution monitoring of high-level robot programs. Principles of Knowledge Representation and Reasoning: Proceedings of the Sixth International Conference (KR'98). [7] G. De Giacomo, Y. Lesperance, H. Levesque, S. Sardiña. On the semantics of deliberation in indigolog - from theory to implementation. In Proceedings of KR-2002, Toulouse, France, April 2002. [8] A. Finzi, F. Pirri. Combining Probabilities, Failures and Safety in Robot Control. In Proceedings of IJCAI-01, 2001 [9] L. Iocchi. Design and Development of Cognitive Robots PhD Thesis, Dipartimento di Informatica e Sistemistica, Università di Roma "La Sapienza", 1999. (vedi file home page iocchi http://www.dis.uniroma1.it/~iocchi/publications.html) [10] L. Iocchi, D. Nardi and R. Rosati. Planning with Sensing, Concurrency, and Exogenous Events: Logical Framework and Implementation. In Proceedings of KR'00, 2000. (vedi file home page iocchi http://www.dis.uniroma1.it/~iocchi/publications.html) [11] L. Iocchi, D. Nardi, M. Salerno. Reactivity and Deliberation: A Survey on Multi-Robot Systems. (LNAI 2103) M. Hannebauer, J. Wendler, E. Pagello Eds. Springer, 2001. (vedi file lnai2103.pdf nella directory corrente) [12] C. Castelpietra, L. Iocchi, D. Nardi, M. Piaggio, A. Scalzo, A. Sgorbissa. Communication and Coordination among heterogeneous Mid-size players: ART99. In Proc. of 4th International Workshop on RoboCup 2000, Melbourne, Australia, 2000 (vedi file home page iocchi http://www.dis.uniroma1.it/~iocchi/publications.html) [13] C. Castelpietra, L. Iocchi, D. Nardi, M. Piaggio, A. Scalzo, A. Sgorbissa. Coordination among heterogenous robotic soccer players In Proceedings IROS'00, 2000. (vedi home page iocchi http://www.dis.uniroma1.it/~iocchi/publications.html) Additional references - Hanne Riis Nielson, Flemming Nielson: Semantics with Applications: A Formal Introduction. Wiley Professional Computing, Wiley, 1992 - H.Grosskreutz and G.Lakemeyer, cc-Golog: Towards More Realistic Logic-Based Robot Controllers. AAAI-2000, Austin, TX, July 2000. Some suggested seminar topics: - narratives as high-level programs - transition semantics for procedures - transformational semantics - planning - semantics of search (conditional planning) - bounded search with an adversary - other approaches to probabilistic Situation Calculus