Rather than discussing the isolated merits of a nominative theory of uncertainty, this paper focuses on a class of problems, referred to as Dynamic Classification Problem (DCP), which requires the integration of many theories, including a prescriptive theory of uncertainty. We start by analyzing the Dynamic Classification Problem and by defining its induced requirements on a supporting (plausible) reasoning system. We provide a summary of the underlying theory (based on the semantics of many-valed logics) and illustrate the constraints imposed upon it to ensure the modularity and computational performance required by the applications. We describe the technologies used for knowledge engineering (such as object-based simulator to exercise requirements, and development tools to build the Knowledge Base and functionally validate it). We emphasize the difference between development environment and run-time system, describe the rule cross-compiler, and the real-time inference engine with meta-reasoning capabilities. Finally, we illustrate how our proposed technology satisfies the pop's requirements and analyze some of the lessons reamed from its applications to situation assessment problems for Pilot's Associate and Submarine Commander Associate.

This paper addresses fundamental issues on the nature of the concepts and structures of fuzzy logic, focusing, in particular, on the conceptual and functional differences that exist between probabilistic and possibilistic approaches. A semantic model provides the basic framework to define possibilistic structures and concepts by means of a function that quantifies proximity, closeness, or resemblance between pairs of possible worlds. The resulting model is a natural extension, based on multiple conceivability relations, of the modal logic concepts of necessity and possibility. By contrast, chance-oriented probabilistic concepts and structures rely on measures of set extension that quantify the proportion of possible worlds where a proposition is true. Resemblance between possible worlds is quantified by a generalized similarity relation: a function that assigns a number between O and 1 to every pair of possible worlds. Using this similarity relation, which is a form of numerical complement of a classic metric or distance, it is possible to define and interpret the major constructs and methods of fuzzy logic: conditional and unconditioned possibility and necessity distributions and the generalized modus ponens of Zadeh.

In this paper we provide an overview of a new framework for robot perception, real-world modelling, and navigation that uses a stochastic tesselated representation of spatial information called the Occupancy Grid. The Occupancy Grid is a multi-dimensional random field model that maintains probabilistic estimates of the occupancy state of each cell in a spatial lattice. Bayesian estimation mechanisms employing stochastic sensor models allow incremental updating of the Occupancy Grid using multi-view, multi-sensor data, composition of multiple maps, decision-making, and incorporation of robot and sensor position uncertainty. We present the underlying stochastic formulation of the Occupancy Grid framework, and discuss its application to a variety of robotic tusks. These include range-based mapping, multi-sensor integration, path-planning and obstacle avoidance, handling of robot position uncertainty, incorporation of pre-compiled maps, recovery of geometric representations, and other related problems. The experimental results show that the Occupancy Grid approach generates dense world models, is robust under sensor uncertainty and errors, and allows explicit handling of uncertainty. It supports the development of robust and agile sensor interpretation methods, incremental discovery procedures, and composition of information from multiple sources. Furthermore, the results illustrate that robotic tasks can be addressed through operations performed di- rectly on the Occupancy Grid, and that these operations have strong parallels to operations performed in the image processing domain.

Henru Hamburger George Mason University and Naval Research Laboratory In an expert system, it is necessary to supply the values of various parameters. Ideally, an absolutely reliable source is available to supply an exact value for any parameter. In reality, one may have unreliable, unconfident, conflicting estimates of the value for a particular parameter. This paper is a consideration of how to represent and combine imperfect estimates. It is assumed that the knowledge from each source takes the form of an estimate of the parameter value, paired with an associated measure of uncertainty.

In this paper, we describe a representation for spatial information, called the stochastic map, and associated procedures for building it, reading information from it, and revising it incrementally as new information is obtained. The map contains the estimates of relationships among objects in the map, and their uncertainties, given all the available information. The procedures provide a general solution to the problem of estimating uncertain relative spatial relationships. The estimates are probabilistic in nature, an advance over the previous, very conservative, worst-case approaches to the problem. Finally, the procedures are developed in the context of state-estimation and filtering theory, which provides a solid basis for numerous extensions.

We are interested in creating an automated or semi-automated system with the capability of taking a set of radar imagery, collection parameters and a priori map and other tactical data, and producing likely interpretations of the possible military situations given the available evidence. This paper is concerned with the problem of the interpretation and computation of certainty or belief in the conclusions reached by such a system. For example, if we consider the problem of confirming or denying the presence of a battalion in a given area, we should include in our decision making process the prior likelihood of military presence based on tactical objectives, the evidence of military vehicles in radar image data, the spatial and tactical clustering and patterns of the vehicles extracted from the imagery, etc. Furthermore, if the user of the system has particular interests such as knowing specific deployments, location of battalion headquarters, etc., then these interests should also be responded to

Current approaches to expert systems' reasoning under uncertainty fail to capture the iterative revision process characteristic of intelligent human reasoning. This paper reports on a system, called the Non-monotonic Probabilist, or NMP (Cohen, et al., 1985). When its inferences result in substantial conflict, NMP examines and revises the assumptions underlying the inferences until conflict is reduced to acceptable levels. NMP has been implemented in a demonstration computer-based system, described below, which supports threat correlation and in-flight route replanning by Air Force pilots.

In particular, we are interested here in the nature of the control structure of computer programs that can support multiple interpretation and smooth transitions between them, in real time. Each step of the processing involves the interpretation of one input item and the appropriate re-establishment of the system's confidence of the correctness of its interpretation(s). First, the input to the program may be highly unreliable either due to noise at the input channel or due to excessive irrelevant information. We have developed two computational schemes to deal with uncertainty during interpretation tasks. The most obvious advantage of using this scheme is that it may provide a broader interpretation of the situation and helps reduce biases so that relevant new information is not missed.

The fundamental elements of evidential reasoning problems are described, followed by a discussion of the structure of various types of problems. Bayesian inference networks and state space formalism are used as the tool for problem representation. A human-oriented decision making cycle for solving evidential reasoning problems is described and illustrated for a military situation assessment problem. The implementation of this cycle may serve as the basis for an expert system shell for evidential reasoning; i.e. a situation assessment processor.

Ross D. Shachter and Leonard J. Bertrand Department of Engineering-Economic Systems, Stanford University (visiting the Center for Health Policy Research and Education, Duke University, PO Box GM, Durham, NC 27706) and Strategic Decisions Group, Menlo Park, CA for the Third Workshop on Uncertainty in Artificial Intelligence Seattle, Washington, July 10-12, 1987 The generalized fault diagram, a data structure for failure analysis based on the influence diagram, is defined. Unlike the fault tree, this structure allows for dependence among the basic events and replicated logical elements. A heuristic procedure is developed for efficient processing of these structures. Deterministic logic and conditional probabilities are both appealing frameworks in which to build a knowledge base. Each has a natural graphical representation, semantic network for logic and influence diagrams (Howard and Matheson, 1981) or bayes networks (Pearl, 1986) for probabilities.