World modeling for autonomous systems

Authors:
Ioana Gheţa;Michael Heizmann;Andrey Belkin;J¨urgen Beyerer
Affiliations:
Vision and Fusion Laboratory, Karlsruhe Institute of Technology, Karlsruhe, Germany;Fraunhofer Institute of Optronics, System Technologies and Image Exploitation, Karlsruhe, Germany;Vision and Fusion Laboratory, Karlsruhe Institute of Technology, Karlsruhe, Germany;Vision and Fusion Laboratory, Karlsruhe Institute of Technology, Karlsruhe, Germany and Fraunhofer Institute of Optronics, System Technologies and Image Exploitation, Karlsruhe, Germany
Venue:
KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence
Year:
2010

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Abstract

This contribution proposes a universal, intelligent information storage and management system for autonomous systems, e. g., robots. The proposed system uses a three pillar information architecture consisting of three distinct components: prior knowledge, environment model, and real world. In the center of the architecture, the environment model is situated, which constitutes the fusion target for prior knowledge and sensory information from the real world. The environment model is object oriented and comprehensively models the relevant world of the autonomous system, acting as an information hub for sensors (information sources) and cognitive processes (information sinks). It features mechanisms for information exchange with the other two components. A main characteristic of the system is that it models uncertainties by probabilities, which are handled by a Bayesian framework including instantiation, deletion and update procedures. The information can be accessed on different abstraction levels, as required. For ensuring validity, consistence, relevance and actuality, information check and handling mechanisms are provided.