Diploma/Master's/Bachelor's Theses and Job Offers

Diploma Thesis: Towards Decidable Verification of Non-Terminating Golog Programs [completed]

Submitted by Martin Liebenberg on 13. April 2013 - 20:45

Claßen and Lakemeyer recently introduced algorithms for the verification of temporal properties of non-terminating Golog programs, based on the first-order modal Situation Calculus variant ES, and regression-based reasoning. However, while Golog’s high expressiveness is a desirable feature, it also means that their verification procedures cannot be guaranteed to terminate in general. In this thesis, we address this problem by showing that, for a relevant subset, the verification of non-terminating Golog programs is indeed decidable, which is achieved by means of three restrictions. First, we use the ES variant of a decidable two-variable fragment of the Situation Calculus that was introduced by Gu and Soutchanski. Second, we have to restrict the Golog program to contain ground action only. Finally, we consider special classes of successor state axioms, namely the context-free ones and those that only admit local effects.

Diploma/Master's Thesis: Speech detection on a mobile robot [assigned]

Submitted by Tom Goeckel on 10. January 2011 - 16:18


Our sound localization framework should be adapted to speech signals to enhance human-machine interaction. In order to do this, the system should be able to distinguish between speech signals and ambient noise. Currently, the whole sound mixture that is captured by the microphones is taken into account to establish the sound localization map.

Diploma/Master's Thesis: Massively parallel digital signal processing using CUDA [assigned]

Submitted by Tom Goeckel on 10. January 2011 - 13:04


To simulate the filtering processes of the cochlea a digital signal should be segregated into an arbitrary number of narrowband signals. In subsequent stages, the software should be able to process the narrowband signals in real time. This requires a high degree of parallelism that is unsufficiently supported by currently available CPUs.

Diploma Thesis: Flexible Command Interpretation on a Mobile Robot using ReadyLog [completed]

Submitted by stf on 2. September 2010 - 17:44


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.

Bachelor's Thesis: Implementation and Evaluation of an ES-based Golog system [completed]

Submitted by Jens Claßen on 19. May 2010 - 20:00

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.

Master's Thesis: Incorporating Domain-Dependent Knowledge into Golog - An Empirical Evaluation [completed]

Submitted by Jens Claßen on 4. May 2010 - 20:00

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.

Diploma Thesis: Multi-modal multi-target tracking on a mobile robot [completed]

Submitted by stf on 8. March 2010 - 9:26


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.

Diploma Thesis: Self-Maintaining and Self-Monitoring Autonomous Sytems [done]

Submitted by stf on 15. January 2010 - 17:44


The logic-based programming language Readylog has already been successfully applied to control robots in multiple domains such as in robotic soccer and domestic service robotics. In realistic application scenarios robots often fail, due to various reasons some of which are in the state of the robot('s) software itself.

The objective of this thesis is to develop and implement a system that allows a robot to identify issues leading to failures that occur frequently and prevent the same by appropriate counter measures.