Abstract: In this paper, we describe a set of software tools called the PRIDE ONTOlogy Editor (PRONTOE) and a methodology that allows system operators and domain experts to build and maintain ontologies of their sys-tems with no explicit understanding of the underlying ontology representation. We present two case studies: one using NASA flight controllers, and another using the DARPA Robotic Challenge. 1

Describes a set of tools that allows a developer to instrument an autonomous control system to log data at run-time and then analyze that data to verify correct program behavior. Analysis is done using an interval logic that allows system engineers to express complex, temporal specifications to be checked against the logged data of the autonomous control program. A feature of both the logging and analysis is that they can work with distributed programs. All data is synchronized into a common database. The data logging tools and the interval logic are fully implemented. Results are given from a NASA distributed autonomous control system application.

An important aspect of interaction among groups of humans and software agents is supporting collaboration among these heterogeneous agents while they operate remotely and communicate asynchronously. We are developing an architecture that supports multiple humans interacting with multiple automated control agents in such a manner. We are evaluating this architecture with a group consisting of the crew of a space-based vehicle and the automated software agents controlling the vehicle systems. Such agent interaction is modelled as a loosely co-ordinated group because this model minimizes agent commitment to group goals and constraints while addressing a significant portion of crew and control agent group behaviours. In this paper, we give background on human interaction with space-based automation. We identify related research in multi-agent autonomous architectures and single agent human-computer interaction systems, we describe our architecture design for human-software agent groups and we identify research issues in loosely co-ordinated human-software groups.

This paper presents experimental results of preliminary research into multi-robot coordination for construction tasks. Experiments demonstrate that an autonomous "roving eye" robot can provide feedback to a manipulator to align targets from a wider variety of situations than is possible with fixed cameras, without sacrificing the accuracy provided by cameras at close range. The roving eye changes its location autonomously based on current images of the manipulated object and target, always striving for the best view of the task.

For a number of years, researchers in AI and robotics have been sharing organization principles for software

This paper describes a prototype robot and the necessary path planning and control for space inspection applications. The robot is the first generation of a free-flying robotic camera that will assist astronauts in constructing and maintaining the Space Station. The robot will provide remote views to astronauts inside the Space Shuttle and future Space Station, and to ground controllers. The paper describes a planar robot prototype autonomously moving about an air bearing table, and introduces a method for determining paths in three-dimensions for efficient fuel use. Finally, the paper describes the software simulation of the path planner with the future Space Station.

This paper describes an implementation of the 3T robot architecture which has been under development for the last eight years. The architecture uses three levels of abstraction and description languages which are compatible between levels. The makeup of the architecture helps to coordinate planful activities with real-time behaviours for dealing with dynamic environments. In recent years, other architectures have been created with similar attributes but two features distinguish the 3T architecture: (1) a variety of useful software tools have been created to help implement this architecture on multiple real robots; and (2) this architecture, or parts of it, have been implemented on a variety of very different robot systems using different processors, operating systems, effectors and sensor suites.

"Software architectures for hardware agents." Journal of Experimental & Theoretical Artificial Intelligence, 9(2-3), p. 145

To interact effectively with humans, mobile robots will need certain skills. One particularly important skill is the ability to pursue moving agents. To do this, the robot needs a robust visual tracking algorithm and an effective obstacle avoidance algorithm, plus a means of integrating these two behaviors in a seamless manner. In this paper, we introduce the proximity space method as a means for performing real-time, behavior-based control of visual gaze. We then show how this method is integrated with robot motion using an intelligent control architecture that can automatically reconfigure the robot's behaviors in response to environmental changes. The resulting implementation pursues people and other robots around our laboratory for extended periods of time.

In order for mobile robots to interact effectively with people they will have to recognize faces. We describe a robot system that finds people, approaches them and then recognizes them. The system uses a variety of techniques: color vision is used to find people; vision and sonar sensors are used to approach them; a template-based pattern recognition algorithm is used to isolate the face; and a neural network is used to recognize the face. All of these processes are controlled using an intelligent robot architecture that sequences and monitors the robot's actions. We present the results of many experimental runs using an actual mobile robot finding and recognizing up to six different people.