This paper describes NAIVE, a low-level knowledge representation language and inferencing process. NAIVE has been designed for reasoning about nondeterministic dynamic systems like those found in medicine. Knowledge is represented in a graph structure consisting of nodes, which correspond to the variables describing the system of interest, and arcs, which correspond to the procedures used to infer the value of a variable from the values of other variables. The value of a variable can be determined at an instant in time, over a time interval or for a series of times. Information about the value of a variable is expressed as a probability density function which quantifies the likelihood of each possible value. The inferencing process uses these probability density functions to propagate uncertainty. NAIVE has been used to develop medical knowledge bases including over 100 variables.

The management of uncertainty in expert systems has usually been left to ad hoc representations and rules of combinations lacking either a sound theory or clear semantics. The objective of this paper is to establish a theoretical basis for defining the syntax and semantics of a small subset of calculi of uncertainty operating on a given term set of linguistic statements of likelihood. Each calculus is defined by specifying a negation, a conjunction and a disjunction operator. Families of Triangular norms and conorms constitute the most general representations of conjunction and disjunction operators. These families provide us with a formalism for defining an infinite number of different calculi of uncertainty. The term set will define the uncertainty granularity, i.e. the finest level of distinction among different quantifications of uncertainty. This granularity will limit the ability to differentiate between two similar operators. Therefore, only a small finite subset of the infinite number of calculi will produce notably different results. This result is illustrated by two experiments where nine and eleven different calculi of uncertainty are used with three term sets containing five, nine, and thirteen elements, respectively. Finally, the use of context dependent rule set is proposed to select the most appropriate calculus for any given situation. Such a rule set will be relatively small since it must only describe the selection policies for a small number of calculi (resulting from the analyzed trade-off between complexity and precision).

We introduce and analyze the problem of the compilation of decision models from a decision-theoretic perspective. The techniques described allow us to evaluate various configurations of compiled knowledge given the nature of evidential relationships in a domain, the utilities associated with alternative actions, the costs of run-time delays, and the costs of memory. We describe procedures for selecting a subset of the total observations available to be incorporated into a compiled situation-action mapping, in the context of a binary decision with conditional independence of evidence. The methods allow us to incrementally select the best pieces of evidence to add to the set of compiled knowledge in an engineering setting. After presenting several approaches to compilation, we exercise one of the methods to provide insight into the relationship between the distribution over weights of evidence and the preferred degree of compilation.

We show an approach to automated control of machine vision systems based on incremental creation and evaluation of a particular family of influence diagrams that represent hypotheses of imagery interpretation and possible subsequent processing decisions. In our approach, model-based machine vision techniques are integrated with hierarchical Bayesian inference to provide a framework for representing and matching instances of objects and relationships in imagery and for accruing probabilities to rank order conflicting scene interpretations. We extend a result of Tatman and Shachter to show that the sequence of processing decisions derived from evaluating the diagrams at each stage is the same as the sequence that would have been derived by evaluating the final influence diagram that contains all random variables created during the run of the vision system.

Decision tree induction systems are being used for knowledge acquisition in noisy domains. This paper develops a subjective Bayesian interpretation of the task tackled by these systems and the heuristic methods they use. It is argued that decision tree systems implicitly incorporate a prior belief that the simpler (in terms of decision tree complexity) of two hypotheses be preferred, all else being equal, and that they perform a greedy search of the space of decision rules to find one in which there is strong posterior belief. A number of improvements to these systems are then suggested.

This study examined the effects of "tuning" the parameters of the incremental function of MYCIN, the independent function of PROSPECTOR, a probability model that assumes independence, and a simple additive linear equation. me parameters of each of these models were optimized to provide solutions which most nearly approximated those from a full probability model for a large set of simple networks. Surprisingly, MYCIN, PROSPECTOR, and the linear equation performed equivalently; the independence model was clearly more accurate on the networks studied.

In the canonical examples underlying Shafer-Dempster theory, beliefs over the hypotheses of interest are derived from a probability model for a set of auxiliary hypotheses. Beliefs are derived via a compatibility relation connecting the auxiliary hypotheses to subsets of the primary hypotheses. A belief function differs from a Bayesian probability model in that one does not condition on those parts of the evidence for which no probabilities are specified. The significance of this difference in conditioning assumptions is illustrated with two examples giving rise to identical belief functions but different Bayesian probability distributions.

We present a representation of partial confidence in belief and preference that is consistent with the tenets of decision-theory. The fundamental insight underlying the representation is that if a person is not completely confident in a probability or utility assessment, additional modeling of the assessment may improve decisions to which it is relevant. We show how a traditional decision-analytic approach can be used to balance the benefits of additional modeling with associated costs. The approach can be used during knowledge acquisition to focus the attention of a knowledge engineer or expert on parts of a decision model that deserve additional refinement.

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.

In this paper, we describe a scheme for propagating belief functions in certain kinds of trees using only local computations. This scheme generalizes the computational scheme proposed by Shafer and Logan1 for diagnostic trees of the type studied by Gordon and Shortliffe, and the slightly more general scheme given by Shafer for hierarchical evidence. It also generalizes the scheme proposed by Pearl for Bayesian causal trees (see Shenoy and Shafer). Pearl's causal trees and Gordon and Shortliffe's diagnostic trees are both ways of breaking the evidence that bears on a large problem down into smaller items of evidence that bear on smaller parts of the problem so that these smaller problems can be dealt with one at a time. This localization of effort is often essential in order to make the process of probability judgment feasible, both for the person who is making probability judgments and for the machine that is combining them. The basic structure for our scheme is a type of tree that generalizes both Pearl's and Gordon and Shortliffe's trees. Trees of this general type permit localized computation in Pearl's sense. They are based on qualitative judgments of conditional independence. We believe that the scheme we describe here will prove useful in expert systems. It is now clear that the successful propagation of probabilities or certainty factors in expert systems requires much more structure than can be provided in a pure production-system framework. Bayesian schemes, on the other hand, often make unrealistic demands for structure. The propagation of belief functions in trees and more general networks stands on a middle ground where some sensible and useful things can be done. We would like to emphasize that the basic idea of local computation for propagating probabilities is due to Judea Pearl. It is a very innovative idea; we do not believe that it can be found in the Bayesian literature prior to Pearl's work. We see our contribution as extending the usefulness of Pearl's idea by generalizing it from Bayesian probabilities to belief functions. In the next section, we give a brief introduction to belief functions. The notions of qualitative independence for partitions and a qualitative Markov tree are introduced in Section III. Finally, in Section IV, we describe a scheme for propagating belief functions in qualitative Markov trees.