A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire knowledge about that environment. We describe a control system that chooses what activity to engage in next on the basis of expectations about how the information re- turned as a result of a given activity will improve 2 its knowledge about the spatial layout of its environment. Certain of the higher-level components of the control system are specified in terms of probabilistic decision models whose output is used to mediate the behavior of lower-level control components responsible for movement and sensing.

Many Artificial Intelligence systems depend on the agent's updating its beliefs about the world on the basis of experience. Experiments constitute one type of experience, so scientific methodology offers a natural environment for examining the issues attendant to using this class of evidence. This paper presents a framework which structures the process of using scientific data from research reports for the purpose of making decisions, using decision analysis as the basis for the structure and using medical research as the general scientific domain. The structure extends the basic influence diagram for updating belief in an object domain parameter of interest by expanding the parameter into four parts: those of the patient, the population, the study sample, and the effective study sample. The structure uses biases to perform the transformation of one parameter into another, so that, for instance, selection biases, in concert with the population parameter, yield the study sample parameter. The influence diagram structure provides decision theoretic justification for practices of good clinical research such as randomized assignment and blindfolding of care providers. The model covers most research designs used in medicine: case-control studies, cohort studies, and controlled clinical trials, and provides an architecture to separate clearly between statistical knowledge and domain knowledge. The proposed general model can be the basis for clinical epidemiological advisory systems, when coupled with heuristic pruning of irrelevant biases; of statistical workstations, when the computational machinery for calculation of posterior distributions is added; and of meta-analytic reviews, when multiple studies may impact on a single population parameter.

Influence diagrams are a directed graph representation for uncertainties as probabilities. The graph distinguishes between those variables which are under the control of a decision maker (decisions, shown as rectangles) and those which are not (chances, shown as ovals), as well as explicitly denoting a goal for solution (value, shown as a rounded rectangle.

This paper discusses how a measure of uncertainty representing a state of knowledge can be updated when a new information, which may be pervaded with uncertainty, becomes available. This problem is considered in various framework, namely: Shafer's evidence theory, Zadeh's possibility theory, Spohn's theory of epistemic states. In the two first cases, analogues of Jeffrey's rule of conditioning are introduced and discussed. The relations between Spohn's model and possibility theory are emphasized and Spohn's updating rule is contrasted with the Jeffrey-like rule of conditioning in possibility theory. Recent results by Shenoy on the combination of ordinal conditional functions are reinterpreted in the language of possibility theory. It is shown that Shenoy's combination rule has a well-known possibilistic counterpart.

We describe an environment that considerably simplifies the process of generating Bayesian belief networks. The system has been implemented on readily available, inexpensive hardware, and provides clarity and high performance. We present an introduction to Bayesian belief networks, discuss algorithms for inference with these networks, and delineate the classes of problems that can be solved with this paradigm. We then describe the hardware and software that constitute the system, and illustrate Ergo's use with several example

Considerable attention has been given to the problem of non-monotonic reasoning in a belief function framework. Earlier work (M. Ginsberg) proposed solutions introducing meta-rules which recognized conditional independencies in a probabilistic sense. More recently an e-calculus formulation of default reasoning (J. Pearl) shows that the application of Dempster's rule to a non-monotonic situation produces erroneous results. This paper presents a new belief function interpretation of the problem which combines the rules in a way which is more compatible with probabilistic results and respects conditions of independence necessary for the application of Dempster's combination rule. A new general framework for combining conflicting evidence is also proposed in which the normalization factor becomes modified. This produces more intuitively acceptable results.

This note is concerned with a formal analysis of the problem of non-monotonic reasoning in intelligent systems, especially when the uncertainty is taken into account in a quantitative way. A firm connection between logic and probability is established by introducing conditioning notions by means of formal structures that do not rely on quantitative measures. The associated conditional logic, compatible with conditional probability evaluations, is non-monotonic relative to additional evidence. Computational aspects of conditional probability logic are mentioned. The importance of this development lies on its role to provide a conceptual basis for various forms of evidence combination and on its significance to unify multi-valued and non-monotonic logics

In this paper we present a framework for dynamically constructing Bayesian networks. We introduce the notion of a background knowledge base of schemata, which is a collection of parameterized conditional probability statements. These schemata explicitly separate the general knowledge of properties an individual may have from the specific knowledge of particular individuals that may have these properties. Knowledge of individuals can be combined with this background knowledge to create Bayesian networks, which can then be used in any propagation scheme. We discuss the theory and assumptions necessary for the implementation of dynamic Bayesian networks, and indicate where our approach may be useful.

Bayes belief networks and influence diagrams are tools for constructing coherent probabilistic representations of uncertain knowledge. The process of constructing such a network to represent an expert's knowledge is used to illustrate a variety of techniques which can facilitate the process of structuring and quantifying uncertain relationships. These include some generalizations of the "noisy OR gate" concept. Sensitivity analysis of generic elements of Bayes' networks provides insight into when rough probability assessments are sufficient and when greater precision may be important.

One of the most important aspects of current expert systems technology is the ability to make causal inferences about the impact of new evidence. When the domain knowledge and problem knowledge are uncertain and incomplete Bayesian reasoning has proven to be an effective way of forming such inferences [3,4,8]. While several reasoning schemes have been developed based on Bayes Rule, there has been very little work examining the comparative effectiveness of these schemes in a real application. This paper describes a knowledge based system for ship classification [1], originally developed using the PROSPECTOR updating method [2], that has been reimplemented to use the inference procedure developed by Pearl and Kim [4,5]. We discuss our reasons for making this change, the implementation of the new inference engine, and the comparative performance of the two versions of the system.