In a large-scale space, structure is at a significantly larger scale than the observations available at an instant. To learn the structure of a large-scale space from observations, the observer must build a cognitive map of the environment by integrating observations over an extended period of time, inferring spatial structure from perceptions and the effects of actions. The cognitive map representation of large-scale space must account for a mapping, or learning structure from observations, and navigation, or creating and executing a plan to travel from one place to another. Approaches to date tend to be fragile either because they don't build maps; or because they assume nonlocal observations, such as those available in preexisting maps or global coordinate systems, including active landmark beacons and geo-locating satellites. We propose that robust navigation and mapping systems for large-scale space can be developed by adhering to a natural, four-level semantic hierarchy of descriptions for representation, planning, and execution of plans in large-scale space. The four levels are sensorimotor interaction, procedural behaviors, topological mapping, and metric mapping. Effective systems represent the environment, relative to sensors, at all four levels and formulate robust system behavior by moving flexibly between representational levels at run time. We demonstrate our claims in three implemented models: Tour, the Qualnav system simulator, and the NX robot.

A numeric representation of uncertain and incomplete sensor knowledge called certainty grids was used successfully in several recent mobile robot control programs developed at the Carnegie-Mellon University Mobile Robot Laboratory (MRL). Certainty grids have proven to be a powerful and efficient unifying solution for sensor fusion, motion planning, landmark identification, and many other central problems. MRL had good early success with ad hoc formulas for updating grid cells with new information. A new Bayesian statistical foundation for the operations promises further improvement. MRL proposes to build a software framework running on processors onboard the new Uranus mobile robot that will maintain a probabilistic, geometric map of the robot's surroundings as it moves. The certainty grid representation will allow this map to be incrementally updated in a uniform way based on information coming from various sources, including sonar, stereo vision, proximity, and contact sensors. The approach can correctly model the fuzziness of each reading and, at the same time, combine multiple measurements to produce sharper map features; it can also deal correctly with uncertainties in the robot's motion. The map will be used by planning programs to choose clear paths, identify locations (by correlating maps), identify well-known and insufficiently sensed terrain, and perhaps identify objects by shape. The certainty grid representation can be extended in the time dimension and used to detect and track moving objects. Even the simplest versions of the idea allow us to fairly straightforwardly program the robot for tasks that have hitherto been out of reach. MRL looks forward to a program that can explore a region and return to its starting place, using map "snapshots" from its outbound journey to find its way back, even in the presence of disturbances of its motion and occasional changes in the terrain.

The Computing Research Laboratory (CRL) at New Mexico State University is a center for research in artificial intelligence and cognitive science. Specific areas of research include the human-computer interface, natural language understanding, connectionism, knowledge representation and reasoning, computer vision, robotics, and graph theory. This article describes the ongoing projects at CRL.

The Computing Research Laboratory (CRL) at New Mexico State University is a center for research in artificial intelligence and cognitive science. Specific areas of research include the human-computer interface, natural language understanding, connectionism, knowledge representation and reasoning, computer vision, robotics, and graph theory. This article describes the ongoing projects at CRL.

Letters to the editor on the lack of a central index to the field's published works and the fact that many original works are not published in journals; praise for Letovsky article -- stimulating and amusing. felt subsequent letters to editors were full of bombastic indignation; criticism of Kasday letter about it and Bob Engelmore's weak support of the article; dualism in regards to Letovsky letter; and a reply to criticism by Letovsky, acknowledging diaristic form.

Real-time domains present a new and challenging environment for the application of knowledge-based problem-solving techniques. However, a substantial amount of research is still needed to solve many difficult problems before real-time expert systems can enhance current monitoring and control systems. In this article, we examine how the real-time problem domain is significantly different from those domains which have traditionally been solved by expert systems. We conduct a survey on the current state of the art in applying knowledge-based systems to real-time problems and describe the key issues that are pertinent in a real-time domain. The survey is divided into three areas: applications, tools, and theoretic issues. From the results of the survey, we identify a set of real-time research issues that have yet to be solved and point out limitations of current tools for real-time problems. Finally, we propose a set of requirements that a real-time knowledge-based system must satisfy.

The fundamental observation we will hands ask, have all the big ideas gone? This is, put field is a real change with several causes, differently, a traditional thesis of artificial and not simply an illusion. Two factors intelligence, namely that the immediately spring to mind: hardware may vary but the basic problems of intelligent action remain the - To some extent, it reflects the maturation same. For example, one big problem is of the field. This notion permeates all of problems are solved, the remaining of artificial intelligence's relatives but problems are harder, making progress less so artificial intelligence itself.

This is Part 1 of a two-part article. Part 2 covers tort liability and computers as expert witnesses. It will appear in the Summer 1988 issue of AI Magazine. Technological developments that remove ever-increasing numbers of cognitive tasks from human control will alter the assumptions on which current legal rules are based. These rules will have a growing impact on AI researchers and entrepreneurs as their work reaches a growing audience of beneficiaries. In order to accommodate the needs of practitioners and their recipients, courts and lawmakers will be forced to reevaluate principles whose foundations were developed well before the implications of advanced technology could have been predicted. This article attempts to identify areas of law in which the need for accommodation will be greatest and provide some insight into the process and the direction of change.

Proceedings of the Seventh National Conference on Artificial Intelligence: 301-306

Policy After another lengthy discussion, are by invitation only, with an the Council reaffirmed a no double average attendance of under 50 participants.