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The Computer Science Department reports on its activities on an annual basis. In the following, we provide the KBSG's contributions to those annual reports
Die Veranstaltung ist eine der von der Fachgruppe Informatik seit dem Wintersemester 2001/2002 angebotenen Einführungsvorlesungen für Hörer aller Fakultäten:
- Programmierung (Java) (WS)
- Einführung in die Informatik (WS)
- Algorithmen und Datenstrukturen (SS)
- Software-Entwicklung (SS)
In Domestic Service Robotics (DSR) human-robot interaction has to be as natural as possible since the robot should be easily operable even by laymen. Spoken language is a feasible means to do so but commands issued to a robot are often ill-formed or incomplete. The goal is to develop a system that is capable of successfully interpreting such commands.
This thesis describes the implementation and evaluation of an extension to the agent control language IndiGolog that uses the ES logic as description language, which allows a higher expressiveness including nested belief operators, quantifying-in and arbitrary first order logic sentences as the objective knowledge base. To exploit the full expression power of ES, a first-order logic theorem prover is used to evaluate requests against the agents knowledge base. For those changes the modular build-up of IndiGolog is harnessed, such that only a redevelopment of the evaluator was needed, whereas the remaining system was unchanged. After an introduction into the ES-logic and the IndiGolog platform the construction of the new evaluation module is described. Afterwards the new system is evaluated against original IndiGolog and Flux, another agent framework, and the advantages in terms of expression power are lined out.
This thesis provides presents an embedding of Doherty and Kvarnström's TALplanner into Golog. For this purpose, as theoretical foundation, a mapping between Temporal Action Logics and an appropriately extended variant of the modal Situation Calculus ES is given and proved to be correct. Furthermore, the embedding is implemented into the IndiGolog framework and evaluated empirically.
Robots that operate in human environments need to be able to detect and preferably also track humans around them by using all of their sensory capabilities.
The objective of this thesis is to develop and implement a system that allows a robot to detect and track person using several different modalities such as a laser range finder and a sound source localization.