论文标题
使用BDI进入校园邮件交付
Toward Campus Mail Delivery Using BDI
论文作者
论文摘要
通常在模拟环境中大多实现了使用信仰 - 戴式意见（BDI）架构开发的自主系统。在这个项目中，我们试图在卡尔顿大学的隧道系统中建立一个在现实世界中用于校园邮件交付的BDI代理。理想情况下，机器人应通过移动应用程序接收送货订单，在电台上捡起邮件，将隧道导航到目标站，并通知接收者。 我们将机器人操作系统（ROS）与BDI推理系统联系起来，以实现所需用例的子集。 ROS处理低级的感应和驱动，而BDI推理系统则处理高级推理和决策。感官数据是精心策划的，并作为感知从ROS发送到推理系统。然后对这些看法进行审议，并将一个动作串发送回ROS，以解释并驱动必要的执行器以进行动作。 在本文中，我们介绍了当前的实施，该实施将关闭硬件软件集成的循环，并实现完整系统所需的用例的子集。
Autonomous systems developed with the Belief-Desire-Intention (BDI) architecture are usually mostly implemented in simulated environments. In this project we sought to build a BDI agent for use in the real world for campus mail delivery in the tunnel system at Carleton University. Ideally, the robot should receive a delivery order via a mobile application, pick up the mail at a station, navigate the tunnels to the destination station, and notify the recipient. We linked the Robot Operating System (ROS) with a BDI reasoning system to achieve a subset of the required use cases. ROS handles the low-level sensing and actuation, while the BDI reasoning system handles the high-level reasoning and decision making. Sensory data is orchestrated and sent from ROS to the reasoning system as perceptions. These perceptions are then deliberated upon, and an action string is sent back to ROS for interpretation and driving of the necessary actuator for the action to be performed. In this paper we present our current implementation, which closes the loop on the hardware-software integration, and implements a subset of the use cases required for the full system.
