Disaster Response Robotics is a challenging domain, where distributed. New challenges hence come up in terms the need for intelligent robotic agents (as opposed to just of autonomy, cooperation and collective behaviors. In the robots) is motivated both by technical considerations and in first part of the talk, I briefly overview the state of the art a practical application perspective. In emergency scenarios in the field of disaster response robotics, in order to support time is critical. Hence, there is a great demand for tools the above sketched analysis. In the second part of that improve the effectiveness of operations. Although there the talk, I present some of the research we developed at are specific actions that can be accomplished by a robot, Sapienza Univ. of Rome, also in collaboration with the Italian such as for example bomb disposal, a key goal of disaster Firemen Department. Specifically, I describe some results response robots is to acquire knowledge about the scenario.

We empirically examine several ways of exploiting the information of multiple heuristics in a satisficing best-first search algorithm, comparing their performance in terms of coverage, plan quality, speed, and search guidance. Our results indicate that using multiple heuristics for satisficing search is indeed useful. Among the combination methods we consider, the best results are obtained by the alternation method of the "Fast Diagonally Downward" planner.

When using a planner-based agent architecture, many things can go wrong. First and foremost, an agent might fail to execute one of the planned actions for some reasons. Even more annoying, however, is a situation where the agent is incompetent, i.e., unable to come up with a plan. This might be due to the fact that there are principal reasons that prohibit a successful plan or simply because the task's description is incomplete or incorrect. In either case, an explanation for such a failure would be very helpful. We will address this problem and provide a formalization of coming up with excuses for not being able to find a plan. Based on that, we will present an algorithm that is able to find excuses and demonstrate that such excuses can be found in practical settings in reasonable time.

Unmanned aircraft systems use a variety of techniques to plan collision-free flight paths given a map of obstacles and no-fly zones. However, maps are not perfect and obstacles may change over time or be detected during flight, which may invalidate paths that the aircraft is already following. Thus, dynamic in-flight replanning is required. Numerous strategies can be used for replanning, where the time requirements and the plan quality associated with each strategy depend on the environment around the original flight path. In this paper, we investigate the use of machine learning techniques, in particular support vector machines, to choose the best possible replanning strategy depending on the amount of time available. The system has been implemented, integrated and tested in hardware-in-the-loop simulation with a Yamaha RMAX helicopter platform.

The PDDL+ language has been mainly devised to allow modelling of real-world systems, with continuous, time-dependant dynamics. Several interesting case studies with these characteristics have been also proposed, to test the language expressiveness and the capabilities of the support tools. However, most of these case studies have not been completely developed so far. In this paper we focus on the batch chemical plant case study, a very complex hybrid system with nonlinear dynamics that could represent a challenging benchmark problem for planning techniques and tools. We present a complete PDDL+ model for such system, and show an example application where the UPMurphi universal planner is used to generate a set of production policies for the plant.

Evolutionary trees of species can be reconstructed by pairwise comparison of their entire genomes. Such a comparison can be quantified by determining the number of events that change the order of genes in a genome. Earlier Erdem and Tillier formulated the pairwise comparison of entire genomes as the problem of planning rearrangement events that transform one genome to the other. We reformulate this problem as a planning problem to extend its applicability to genomes with multiple copies of genes and with unequal gene content, and illustrate its applicability and effectiveness on three real datasets: mitochondrial genomes of Metazoa, chloroplast genomes of Campanulaceae, chloroplast genomes of various land plants and green algae.

We report (to our knowledge) the first evaluation of Constraint Satisfaction as a computational framework for solving closest string problems. We show that careful consideration of symbol occurrences can provide search heuristics that provide several orders of magnitude speedup at and above the optimal distance. We also report (to our knowledge) the first analysis and evaluation -- using any technique -- of the computational difficulties involved in the identification of all closest strings for a given input set. We describe algorithms for web-scale distributed solution of closest string problems, both purely based on AI backtrack search and also hybrid numeric-AI methods.

Electronic Geometry Textbook is a knowledge management system that manages geometric textbook knowledge to enable users to construct and share dynamic geometry textbooks interactively and efficiently. Based on a knowledge base organizing and storing the knowledge represented in specific languages, the system implements interfaces for maintaining the data representing that knowledge as well as relations among those data, for automatically generating readable documents for viewing or printing, and for automatically discovering the relations among knowledge data. An interface has been developed for users to create geometry textbooks with automatic checking, in real time, of the consistency of the structure of each resulting textbook. By integrating an external geometric theorem prover and an external dynamic geometry software package, the system offers the facilities for automatically proving theorems and generating dynamic figures in the created textbooks. This paper provides a comprehensive account of the current version of Electronic Geometry Textbook.

Simple type theory is suited as framework for combining classical and non-classical logics. This claim is based on the observation that various prominent logics, including (quantified) multimodal logics and intuitionistic logics, can be elegantly embedded in simple type theory. Furthermore, simple type theory is sufficiently expressive to model combinations of embedded logics and it has a well understood semantics. Off-the-shelf reasoning systems for simple type theory exist that can be uniformly employed for reasoning within and about combinations of logics.

We present in this paper an evolution of a tool from a user interface for a concrete Computer Algebra system for Algebraic Topology (the Kenzo system), to a front-end allowing the interoperability among different sources for computation and deduction. The architecture allows the system not only to interface several systems, but also to make them cooperate in shared calculations.