Active Observer

9307126 Bajcsy这是三年连续奖励的第一年。 研究内容包括主动观察者视觉行为的建模、分析和综合。 活动观察者是一个移动的代理，其任务是观察和报告/传达关于另一个代理的活动的信息，另一个代理的任务可以是操纵和/或导航。 主动观察者是一个以合作方式一起工作的代理小团队的一部分。 团队中的所有智能体都配备了视觉导航功能，但他们所从事的任务不同，这取决于他们在团队中的角色和目标。 智能体可以独立导航，也可以以合作的方式导航（即在两个操纵器智能体一起携带物体的情况下）。 对于操纵代理导航的合作方式，通信的问题出现，因此，问题的视觉信息的通信。 视觉任务的转换代理将根据他们的观察是否服务于导航或操纵其他代理的目的而有所不同。 在这项研究中的主要重点是控制结构，观察员必须提供适当的观察手头的任务。 为了建模行为的形式主义从离散事件系统（DES）理论已被采用，适合于调查控制理论问题的系统。 预计本研究的贡献将是：1）建模视觉引导的行为，紧密耦合视觉处理与控制架构;和2）识别导航和通信所需的基本行为及其组合导致更复杂的行为。 有两种基本行为被区分开来，一种是观察直接与物理行为相联系，另一种是观察和行为要么被接收，要么被传输。 DES形式主义的使用允许以系统的方式合成复杂的行为，并保证其可控性和可观察性

9307126 Bajcsy This is the first year of a three year continuing award. The research involves investigation of modeling, analysis and synthesis of visual behaviors of Active Observers. An Active Observer is a mobile agent whose task is to observe, and report/communicate information about the activity of another agent(s) whose task may be manipulation and/or navigation. Active Observers are part of a small team of agents who work together in a cooperative fashion. All agents in the team are equipped with visual navigation capabilities, but the tasks they are engaged in differ, depending on their role in the team and their goal. The agents could navigate independently or in a cooperative fashion (i.e. in the case of two manipulator agents carrying an object together). For manipulatory-agents navigating in a cooperative fashion, the issue of communication arises; hence, the problem of representing visual information for communication. The visual tasks of the observers-agents will differ depending on whether their observations serve for the navigation or manipulation purposes of the other agents. The main emphasis in this research is on the control structure that the observer must have in order to deliver the proper observations for the task at hand. For the purpose of modeling behaviors a formalism from the Discrete Events Systems (DES) theory has been adopted, suitable for investigating control-theoretic issues of a system. It is anticipated that the contribution of this research will be in: 1) modeling visually guided behaviors which tightly couple visual processing with control architecture; and 2) the identification of elementary behaviors needed for navigation and communication and their composition leading to more complex behaviors. Two kinds of elementary behaviors are distinguished, one where observations are directly connected with physical actions, and the other where observations and actions are either received or transmitted. The use of DES formalism allows the synthesis of complex behaviors in a systematic fashion and guarantees their controllability and observability