Most autonomous robots are equipped with restricted, unreliable, and inaccurate sensors and effectors and operate in complex and dynamic environments. A successful approach to deal with the resulting uncertainty is the use of controllers that prescribe the robots' behavior in terms of concurrent reactive plans (CRPs) -- plans that specify how the robots are to react to sensory input in order to accomplish their jobs reliably (e.g., McDermott, 1992a; Beetz, 1999). Reactive plans are successfully used to produce situation specific behavior, to detect problems and recover from them automatically, and to recognize and exploit opportunities (Beetz et al., 2001). These kinds of behaviors are particularly important for autonomous robots that have only uncertain information about the world, act in dynamically changing environments, and are to accomplish complex tasks efficiently. Besides reliability and flexibility, foresight is another important capability of competent autonomous robots (McDermott, 1992a).

We present a uniform non-monotonic solution to the problems of reasoning about action on the basis of an argumentation-theoretic approach. Our theory is provably correct relative to a sensible minimisation policy introduced on top of a temporal propositional logic. Sophisticated problem domains can be formalised in our framework. As much attention of researchers in the field has been paid to the traditional and basic problems in reasoning about actions such as the frame, the qualification and the ramification problems, approaches to these problems within our formalisation lie at heart of the expositions presented in this paper.

Fall calendar of AI-related events.

Partially observable Markov decision processes (POMDPs) form an attractive and principled framework for agent planning under uncertainty. Point-based approximate techniques for POMDPs compute a policy based on a finite set of points collected in advance from the agent's belief space. We present a randomized point-based value iteration algorithm called Perseus. The algorithm performs approximate value backup stages, ensuring that in each backup stage the value of each point in the belief set is improved; the key observation is that a single backup may improve the value of many belief points. Contrary to other point-based methods, Perseus backs up only a (randomly selected) subset of points in the belief set, sufficient for improving the value of each belief point in the set. We show how the same idea can be extended to dealing with continuous action spaces. Experimental results show the potential of Perseus in large scale POMDP problems.

A fundamental requirement of any task-oriented dialogue system is the ability to generate object descriptions that refer to objects in the task domain. The subproblem of content selection for object descriptions in task-oriented dialogue has been the focus of much previous work and a large number of models have been proposed. In this paper, we use the annotated COCONUT corpus of task-oriented design dialogues to develop feature sets based on Dale and Reiter's (1995) incremental model, Brennan and Clark's (1996) conceptual pact model, and Jordan's (2000b) intentional influences model, and use these feature sets in a machine learning experiment to automatically learn a model of content selection for object descriptions. Since Dale and Reiter's model requires a representation of discourse structure, the corpus annotations are used to derive a representation based on Grosz and Sidner's (1986) theory of the intentional structure of discourse, as well as two very simple representations of discourse structure based purely on recency. We then apply the rule-induction program RIPPER to train and test the content selection component of an object description generator on a set of 393 object descriptions from the corpus. To our knowledge, this is the first reported experiment of a trainable content selection component for object description generation in dialogue. Three separate content selection models that are based on the three theoretical models, all independently achieve accuracies significantly above the majority class baseline (17%) on unseen test data, with the intentional influences model (42.4%) performing significantly better than either the incremental model (30.4%) or the conceptual pact model (28.9%). But the best performing models combine all the feature sets, achieving accuracies near 60%. Surprisingly, a simple recency-based representation of discourse structure does as well as one based on intentional structure. To our knowledge, this is also the first empirical comparison of a representation of Grosz and Sidner's model of discourse structure with a simpler model for any generation task.

In this paper we present a new approach to modeling finite set domain constraint problems using Reduced Ordered Binary Decision Diagrams (ROBDDs). We show that it is possible to construct an efficient set domain propagator which compactly represents many set domains and set constraints using ROBDDs. We demonstrate that the ROBDD-based approach provides unprecedented flexibility in modeling constraint satisfaction problems, leading to performance improvements. We also show that the ROBDD-based modeling approach can be extended to the modeling of integer and multiset constraint problems in a straightforward manner. Since domain propagation is not always practical, we also show how to incorporate less strict consistency notions into the ROBDD framework, such as set bounds, cardinality bounds and lexicographic bounds consistency. Finally, we present experimental results that demonstrate the ROBDD-based solver performs better than various more conventional constraint solvers on several standard set constraint problems.

(EDOC 2005). Moscow State University, Russia, King's Email: patrick.hung@uoit.ca In cooperation with the American Association for Artificial Intelligence General Chairs The 19th International FLAIRS Conference (FLAIRS 2006) will be held May 11-13 Philip Chan, Debasis Mitra 2006, in Melbourne Beach, Florida, USA. Coast" (centered around NASA's Kennedy Space Center), and has easy access to Florida Institute of Technology Orlando and the Disney World attractions. Submission of papers for presentation at the conference is now invited.

RoboCup is an international initiative with the main goals of fostering research and education in artificial intelligence and robotics, as well as of promoting science and technology to world citizens. The idea behind RoboCup is to provide a standard problem for which a wide range of technologies can be integrated and examined, as well as being used for project-oriented education, and to organize annual events open to the general public, at which different solutions to the problem are compared. The eighth annual RoboCup -- RoboCup 2004 -- was held in Lisbon, Portugal, from 27 June to 5 July. In this article, a general description of RoboCup 2004 is presented, including summaries concerning teams, participants, distribution into leagues, main research advances, as well as detailed descriptions for each league.

Today, approximately 10 percent of the world's population is over the age of 60; by 2050 this proportion will have more than doubled. Moreover, the greatest rate of increase is amongst the "oldest old," people aged 85 and over. While many older adults remain healthy and productive, overall this segment of the population is subject to physical and cognitive impairment at higher rates than younger people. This article surveys new technologies that incorporate artificial intelligence techniques to support older adults and help them cope with the changes of aging, in particular with cognitive decline.

Software agents can be used to automate many of the tedious, time-consuming information processing tasks that humans currently have to complete manually. However, to do so, agent plans must be capable of representing the myriad of actions and control flows required to perform those tasks. In addition, since these tasks can require integrating multiple sources of remote information ? typically, a slow, I/O-bound process ? it is desirable to make execution as efficient as possible. To address both of these needs, we present a flexible software agent plan language and a highly parallel execution system that enable the efficient execution of expressive agent plans. The plan language allows complex tasks to be more easily expressed by providing a variety of operators for flexibly processing the data as well as supporting subplans (for modularity) and recursion (for indeterminate looping). The executor is based on a streaming dataflow model of execution to maximize the amount of operator and data parallelism possible at runtime. We have implemented both the language and executor in a system called THESEUS. Our results from testing THESEUS show that streaming dataflow execution can yield significant speedups over both traditional serial (von Neumann) as well as non-streaming dataflow-style execution that existing software and robot agent execution systems currently support. In addition, we show how plans written in the language we present can represent certain types of subtasks that cannot be accomplished using the languages supported by network query engines. Finally, we demonstrate that the increased expressivity of our plan language does not hamper performance; specifically, we show how data can be integrated from multiple remote sources just as efficiently using our architecture as is possible with a state-of-the-art streaming-dataflow network query engine.