Papers by Flavio Tonidandel
Lecture Notes in Computer Science, 2004
International Conference on Artificial Intelligence Planning Systems, Apr 23, 2002
This paper presents a case-based planning system, called FAR-OFF, as an alternative approach to h... more This paper presents a case-based planning system, called FAR-OFF, as an alternative approach to heuristic search generative planners, like HSP and FF. The FAR-OFF system introduces the use of a new similarity metric, called ADG (Action Distance-Guided), that is more accurate than other similarity metrics, and it also incorporates techniques to decrease the retrieval time, like the Footprint-based Retrieval. Consequently, the FAR-OFF system can solve more AIPS´00 planning competition problems than the heuristic search planners in an acceptable amount of time.
Lecture Notes in Computer Science, 2001
In this paper, we present an adaptation-guided similarity metric based on the estimate of the num... more In this paper, we present an adaptation-guided similarity metric based on the estimate of the number of actions between states, called ADG (Action Distance-Guided). It is determined by using a heuristic calculation extracted from the heuristic search planning, called FF, which was the fastest planner in the AIPS'2000 competition. This heuristic provides an accurate estimate of the distance between states that is appropriated for similarity measures. Consequently, the ADG becomes a new approach, suitable for domain independent case-based planning systems that perform state-space search.
IFAC Proceedings Volumes, Nov 1, 1998
In the planning area, the reasoning about action is important, because the plans are made by a se... more In the planning area, the reasoning about action is important, because the plans are made by a sequence of actions. Each action has its effects that need to be treated and formalized in some logical framework.The use of Transaction Logic (TR) makes possible a perfect definition of fluents to treat the effects of ramification problems, because the TR works with database controlled by transition and data oracles. The TR has a powerful set of inference rules that makes possible its implementation in PROLOG, like SLD-resolution, allowing the application of effects in a computational way.
IFAC Proceedings Volumes, Nov 1, 1998
This work stands out the use of Transaction Logic (TR) in case-based planning. The TR provides a ... more This work stands out the use of Transaction Logic (TR) in case-based planning. The TR provides a correct and complete logical theory based planner that can be computationally implemented keeping the formal theory semantic. The TR is efficient on states treatment besides to create a retriever and cases adaptation easier than others formalized systems. Transaction Logic provides a clean fashion in knowledge representation and its semantic based on path of states is next to planning necessities, making possible the formalization of whole case-based planning system without the existence of the semantic gap between theory and implementation.
This paper presents the description of the RoboFEI-HT Humanoid League team as it stands for the R... more This paper presents the description of the RoboFEI-HT Humanoid League team as it stands for the RoboCup 2014 in João Pessoa. The paper contains descriptions of the mechanical, electrical and software modules, designed to enable the robots to achieve playing soccer capabilities in the environment of the RoboCup Humanoid League.
Many logical theories used to formalize planning systems don't allow operations with databases th... more Many logical theories used to formalize planning systems don't allow operations with databases that represent knowledge bases, or don't have any inference rule to allow the computational implementation. Instead of that, Transaction Logic, with its restrictive version called serial-Horn, allows a computational implementation of its theory in PROLOG without any semantic lose and has a semantic equivalence with elements of a planning system, as proved by this work 1. 1 Este trabalho tem o apoio financeiro da FAPESP-Fundação de Amparo à Pesquisa do Estado de São Paulo.
A qualidade de uma solução é crucial em muitas aplicações de Inteligência Artificial, inclusive p... more A qualidade de uma solução é crucial em muitas aplicações de Inteligência Artificial, inclusive para as solução de um sistema de planejamento. Entretanto, não existe nenhum método independente do domínio que possa melhorar a qualidade de um plano de um sistema de planejamento. Este artigo apresenta um método independente do domínio que melhora a qualidade de uma solução determinando segmentos de planos que precisam ser replanejados. Este método, chamado SQUIRE, não necessita de nenhum conhecimento adicional e apresenta bons resultados em testes empíricos. A versão do método neste artigo é baseada no modelo STRIPS e, portanto, se foca na redução do número de ações de uma solução de planejamento.
Gestão & produção, Dec 1, 2002
Palavras-chave: planejamento inteligente de ações, raciocínio baseado em casos, planejamento base... more Palavras-chave: planejamento inteligente de ações, raciocínio baseado em casos, planejamento baseado em casos.
2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR), 2015
In order to perform a walk on a real environment, humanoid robots need to adapt themselves to the... more In order to perform a walk on a real environment, humanoid robots need to adapt themselves to the environment, as humans do. One approach to achieve this goal is to use Machine Learning techniques that allow robots to improve their behavior with time. In this paper, we propose a system that uses Reinforcement Learning to learn the action policy that will make a robot walk in an upright position, in a lightly sloped terrain. To validate this proposal, experiments were made with a humanoid robot - a robot for the RoboCup Humanoid League based on DARwIn-OP. The results showed that the robot was able to walk on sloping floors, going up and down ramps, even in situations where the slope angle changes.
Lecture Notes in Computer Science, 2005
Journal of Intelligent and Robotic Systems, Mar 1, 2021
This work provides a deeper comparison between two path planning algorithms, the Dynamic Visibili... more This work provides a deeper comparison between two path planning algorithms, the Dynamic Visibility Graph A Star (DVG+A*) and Rapidly–exploring Random Trees (RRT), when applied in a high dimension and dynamic environment, which is the RoboCup Small Size League. The algorithms were compared under two different perspectives. In the first analysis, the algorithms were evaluated according to its computational time, path length and path safety in a static environment. Afterwards, they were evaluated regarding the accumulated computational time, number of recalculated paths, total navigation time and number of collisions in a dynamic environment. The static environment results have shown that the DVG+A* has a better overall performance than RRT, except for the path safety, however, some ideas on how to improve this were discussed. In the dynamic environment the algorithms performed similarly and with a high number of collisions during the experiments. Thus, showing the importance of using an obstacle avoidance algorithm combined with the path planner. In conclusion, the results obtained showed that both algorithms aren’t suitable for highly dynamic and cluttered environments, however, due how sparse the obstacles are in the SSL, they can still be used with some care. Regarding static environments, the DVG+A* has shown the best results.
2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)
2019 Latin American Robotics Symposium (LARS), 2019 Brazilian Symposium on Robotics (SBR) and 2019 Workshop on Robotics in Education (WRE), 2019
This paper provides an experimental analysis between Dynamic Visibility Graph A Star (DVG+A*) and... more This paper provides an experimental analysis between Dynamic Visibility Graph A Star (DVG+A*) and Rapidly-exploring Random Trees (RRT) path-planners, in order to compare which one is more adequate to the scenario presented in the Small Size League (SSL). The metrics used to compare each algorithm were established based on the characteristics of a SSL game, which demand a short path, low computational cost and a safe distance from the opponent robots. For the comparison, both algorithms were tested in static and dynamic environments. After all the tests, DVG+A* has shown the best results.
— This paper addresses the problem of colour recognition in real time computer vision systems app... more — This paper addresses the problem of colour recognition in real time computer vision systems applied to the robot soccer domain. The developed work presents a novel combination between our current model-based computer vision system and neural networks to classify colours and identity the robots on an image. This combination presents an alternative to the considerably high computational cost of the neural network, which reduces the demanding and time consuming task of calibrating the system before a match. The results prove that this new approach copes with luminance variations across the playing field and enhances the accuracy of the overall system.
Application domains that entail planning and scheduling (P&S) problems present a set of compellin... more Application domains that entail planning and scheduling (P&S) problems present a set of compelling challenges to the AI planning and scheduling community, from modeling to technological to institutional issues. New real-world domains and problems are becoming more and more frequently affordable challenges for AI. The international Scheduling and Planning Applications woRKshop (SPARK) was established to foster the practical application of advances made in the AI P&S community. Building on antecedent events, SPARK'12 is the sixth edition of a workshop series designed to provide a stable, long-term forum where researchers and practitioners can discuss the applications of planning and scheduling techniques to real-world problems. The series webpage is at http://decsai.ugr.es/~lcv/SPARK/ In the attempt to cover the whole spectrum of the efforts in P&S Application-oriented Research, this year's SPARK edition will categorize all contributions in three main areas, namely P&S Under Uncertainty, Execution & Validation, Novel Domains for P&S, and Emerging Applications for P&S. We are once more very pleased to continue the tradition of representing more applied aspects of the planning and scheduling community and to perhaps present a pipeline that will enable increased representation of applied papers in the main ICAPS conference. We thank the Program Committee for their commitment in reviewing. We thank the ICAPS'12 workshop and publication chairs for their support.
Resumo: A qualidade de uma solução é crucial em muitas aplicações de Inteligência Artificial, inc... more Resumo: A qualidade de uma solução é crucial em muitas aplicações de Inteligência Artificial, inclusive para as solução de um sistema de planejamento. Entretanto, não existe nenhum método independente do domínio que possa melhorar a qualidade de um plano de um sistema de planejamento. Este artigo apresenta um método independente do domínio que melhora a qualidade de uma solução determinando segmentos de planos que precisam ser replanejados. Este método, chamado SQUIRE, não necessita de nenhum conhecimento adicional e apresenta bons resultados em testes empíricos. A versão do método neste artigo é baseada no modelo STRIPS e, portanto, se foca na redução do número de ações de uma solução de planejamento. Palavras-Chaves: Qualidade de plano;, Planejamento Inteligente de Ações., Abstract: The quality of a solution plan is crucial in many AI Planning applications. However, there is no effective domain-independent method, which improves a solution plan quality. This paper proposes a domai...
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Papers by Flavio Tonidandel