Draft 13-Jan-2006 Sample MSc Projects for Planning ----------------------------------------------- [A] Comparative Study and Use of Java Development [and Simulation] Environments for Hierarchical Plan Control of Robots Supervisors: Austin Tate, Stephen Potter and Jeff Dalton Study of relevant features and development aids : CMU Tekkotsu ENTSA URBI USC/ISI Player/Stage/Gazebo Webots Others? Use of I-Plan to generate a simple plan and I-P2 to control the execution of such a plan that involve simple coordinated human and robot activities. Development of relevant domain model for a sample task. Task could be to navigate to a room down a (simplified L shaped) corridor and take a picture and record a sound file for relay back to a command centre. This is to be a simple shared task for various projects. Development of the off-robot adaptor code to take plans generated by I-Plan Supplements: 1. Study of relevant simulators related to the development environments for the task. 2. Ease of adding a new robotic device into the framework. Resources: http://www.aiai.ed.ac.uk/project/aibo/ (see Links) Sony AIBO ERS-7/M Robot (shared access for testing) 16MB Pink Programming Memory Stick Sony USB Memory Stick Reader/Writer ----------------------------------------------- [B] A Human/Robot/Sensor System Team for an Emergency Response Task Supervisors: Stephen Potter and Austin Tate ???????? ----------------------------------------------- [C] Teamwork for a Forest Fire Emergency Response Resources: Phoenix fire simulator from UMass (Paul Cohen) ----------------------------------------------- [D] Teamwork for an Oil Spill Emergency Response Resources: Sample simulation in I-Sim using IM-PACs Southampton/Fawley Refinery Oil Spill scenario ----------------------------------------------- [E] A Semantic Web Brokering System for Emergency Response using - Advertise capabilities of specialised emergency response facilities from countries, NGOs, special SAR teams and their specialised equipment, undersea rescue teams (such as Scottish example for sub-rescue), commercial offerings, etc. - Allow requests for facilities with appropriate constriants, time windows, etc. - Broker to match up requests to availability of caopabilities - Representation issues - seeking generic descriptors that can easiy be extended. Resource, time and other constrants. - Explore basis for descriptors and requests.. comment on any issues in its use. - Use OWL and OWL-S where appropriate and comment on issues in their use. - Look at real uses of brokering in multi-national emergency response - e.g. from MPAT (mpat.org) in December 2004 Tsunami. More ideas: Capability descriptions for services offered by donors. Request descriptions for requesters. Management interface to track request and tie them to appropriate capabilities using semantic web technology. I-X Process Panels and BBN OpenMap MapTool. Consideration of (prior) authorisation to link requests to donor mobilisation. Web form style interfaces for donors, requesters and the management team. http://i-x.info http://i-x.info/inca/ ------------------------------------------------- [F] Simulation and Use of a Home Companion Robotic System Simulation of a simplified floorplan with humans, a companion robot and a number of fixed position sensor/effectors. Show a few joint behaviour patterns in this environment. Participant roles for each agent in environment: Parent Child Robot Sensor Type A Sensor Type B [extension possible for Visitor and different age/gender parents and children] Resources: Webots simulator - http://www.cyberbotics.com/ URBI Interface - http://www.urbiforge.com/ ------------------------------------------------------ [G] I-Diary - An Intelligent Diary Integration of a diary tool into the I-X intelligent planning and collaboration environment. - specific dated/timed events which can be transferred to the I-X process panel for further planning and execution support. - repeat events at some frequency (every specific time period, daily, weekly) - undated/timed events (possibly with constraints) that can be triggered when other constraints are met. ability to transfer I-X panel contents (partially) to save to the diary. - ability to load parts of diary Theses sorts of functions would support personal assistance and companion systems for reminding of thins like drug taking, making meals, contacting people, etc. It could also provide a very natural interface to I-P2 and I-Plan functionality for those used to a calendar style diary. -----------------------------------------------