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Documents authored by Doherty, Patrick

Document
DOI: 10.4230/DagSemProc.10081.13
Research with Collaborative Unmanned Aircraft Systems

Authors: Patrick Doherty, Jonas Kvarnström, Fredrik Heintz, D. Landen, and P.-M. Olsson

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
We provide an overview of ongoing research which targets development of a principled framework for mixed-initiative interaction with unmanned aircraft systems (UAS). UASs are now becoming technologically mature enough to be integrated into civil society. Principled interaction between UASs and human resources is an essential component in their future uses in complex emergency services or bluelight scenarios. In our current research, we have targeted a triad of fundamental, interdependent conceptual issues: delegation, mixed- initiative interaction and adjustable autonomy, that is being used as a basis for developing a principled and well-defined framework for interaction. This can be used to clarify, validate and verify different types of interaction between human operators and UAS systems both theoretically and practically in UAS experimentation with our deployed platforms.
Cite as

Patrick Doherty, Jonas Kvarnström, Fredrik Heintz, D. Landen, and P.-M. Olsson. Research with Collaborative Unmanned Aircraft Systems. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-14, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{doherty_et_al:DagSemProc.10081.13,
  author =	{Doherty, Patrick and Kvarnstr\"{o}m, Jonas and Heintz, Fredrik and Landen, D. and Olsson, P.-M.},
  title =	{{Research with Collaborative Unmanned Aircraft Systems}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--14},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.13},
  URN =		{urn:nbn:de:0030-drops-26300},
  doi =		{10.4230/DagSemProc.10081.13},
  annote =	{Keywords: Multi-agent systems, robotics, human-robot interaction, delegation}
}
Document
DOI: 10.4230/DagSemProc.10081.16
Stream-Based Reasoning in DyKnow

Authors: Fredrik Heintz, Jonas Kvarnström, and Patrick Doherty

Published in: Dagstuhl Seminar Proceedings, Volume 10081, Cognitive Robotics (2010)

Abstract
The information available to modern autonomous systems is often in the form of streams. As the number of sensors and other stream sources increases there is a growing need for incremental reasoning about the incomplete content of sets of streams in order to draw relevant conclusions and react to new situations as quickly as possible. To act rationally, autonomous agents often depend on high level reasoning components that require crisp, symbolic knowledge about the environment. Extensive processing at many levels of abstraction is required to generate such knowledge from noisy, incomplete and quantitative sensor data. We define knowledge processing middleware as a systematic approach to integrating and organizing such processing, and argue that connecting processing components with streams provides essential support for steady and timely flows of information. DyKnow is a concrete and implemented instantiation of such middleware, providing support for stream reasoning at several levels. First, the formal kpl language allows the specification of streams connecting knowledge processes and the required properties of such streams. Second, chronicle recognition incrementally detects complex events from streams of more primitive events. Third, complex metric temporal formulas can be incrementally evaluated over streams of states. DyKnow and the stream reasoning techniques are described and motivated in the context of a UAV traffic monitoring application.
Cite as

Fredrik Heintz, Jonas Kvarnström, and Patrick Doherty. Stream-Based Reasoning in DyKnow. In Cognitive Robotics. Dagstuhl Seminar Proceedings, Volume 10081, pp. 1-16, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2010)

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@InProceedings{heintz_et_al:DagSemProc.10081.16,
  author =	{Heintz, Fredrik and Kvarnstr\"{o}m, Jonas and Doherty, Patrick},
  title =	{{Stream-Based Reasoning in DyKnow}},
  booktitle =	{Cognitive Robotics},
  pages =	{1--16},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2010},
  volume =	{10081},
  editor =	{Gerhard Lakemeyer and Hector J. Levesque and Fiora Pirri},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10081.16},
  URN =		{urn:nbn:de:0030-drops-26274},
  doi =		{10.4230/DagSemProc.10081.16},
  annote =	{Keywords: Knowledge representation, autonomous systems, stream-based reasoning}
}
Document
DOI: 10.4230/DagSemProc.06231.1
06231 Abstracts Collection – Towards Affordance-Based Robot Control

Authors: Erich Rome, Patrick Doherty, Georg Dorffner, and Joachim Hertzberg

Published in: Dagstuhl Seminar Proceedings, Volume 6231, Towards Affordance-Based Robot Control (2006)

Abstract
From June 5 to June 9, 2006, the Dagstuhl Seminar 06231 ``Towards Affordance-Based Robot Control'' was held in the International Conference and Research Center (IBFI), Schloss Dagstuhl. During the seminar, several participants presented their current research, and ongoing work and open problems were discussed. Abstracts of the presentations given during the seminar as well as abstracts of seminar results and ideas are put together in this paper. %The first section describes the seminar topics and goals in general. Links to extended abstracts or full papers are provided, if available. Additionally, papers related to a selection of the above-mentioned presentations willbe published in a proceedings volume (Springer LNAI) early in 2007.
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Erich Rome, Patrick Doherty, Georg Dorffner, and Joachim Hertzberg. 06231 Abstracts Collection – Towards Affordance-Based Robot Control. In Towards Affordance-Based Robot Control. Dagstuhl Seminar Proceedings, Volume 6231, pp. 1-12, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2006)

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@InProceedings{rome_et_al:DagSemProc.06231.1,
  author =	{Rome, Erich and Doherty, Patrick and Dorffner, Georg and Hertzberg, Joachim},
  title =	{{06231 Abstracts Collection – Towards Affordance-Based Robot Control}},
  booktitle =	{Towards Affordance-Based Robot Control},
  pages =	{1--12},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2006},
  volume =	{6231},
  editor =	{Erich Rome and Patrick Doherty and Georg Dorffner and Joachim Hertzberg},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.06231.1},
  URN =		{urn:nbn:de:0030-drops-7226},
  doi =		{10.4230/DagSemProc.06231.1},
  annote =	{Keywords: Affordances, cognitive systems, biologically inspired systems, models of biological systems, attention models, interpersonal maps, human wayfinding, motivations, robot control architectures, hybrid robot control, goal-directed robot control, reactive robot control, ubiquitous robotics, cooperative robotics, robot learning, reinforcement learning, concept learning, action-oriented perception, function-based perception}
}
Document
DOI: 10.4230/DagSemProc.06231.2
06231 Executive Summary – Towards Affordance-based Robot Control

Authors: Erich Rome, Joachim Hertzberg, Georg Dorffner, and Patrick Doherty

Published in: Dagstuhl Seminar Proceedings, Volume 6231, Towards Affordance-Based Robot Control (2006)

Abstract
This article summarizes the objectives and the program of the Dagstuhl seminar 06231, ``Towards Affordance-based Robot Control''. It was held from June 5 to June 9, 2006, at the International Conference and Research Center for Computer Science Schloss Dagstuhl near Wadern, Germany.
Cite as

Erich Rome, Joachim Hertzberg, Georg Dorffner, and Patrick Doherty. 06231 Executive Summary – Towards Affordance-based Robot Control. In Towards Affordance-Based Robot Control. Dagstuhl Seminar Proceedings, Volume 6231, pp. 1-9, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2006)

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@InProceedings{rome_et_al:DagSemProc.06231.2,
  author =	{Rome, Erich and Hertzberg, Joachim and Dorffner, Georg and Doherty, Patrick},
  title =	{{06231 Executive Summary – Towards Affordance-based Robot Control}},
  booktitle =	{Towards Affordance-Based Robot Control},
  pages =	{1--9},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2006},
  volume =	{6231},
  editor =	{Erich Rome and Patrick Doherty and Georg Dorffner and Joachim Hertzberg},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.06231.2},
  URN =		{urn:nbn:de:0030-drops-7254},
  doi =		{10.4230/DagSemProc.06231.2},
  annote =	{Keywords: Affordances, robot control, robot learning, action-oriented perception, robot perception, biologically inspired systems, cognitive systems}
}
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