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![Integrating Cloud Services in Behaviour Programming for Autonomous Robots
PROFETA
Basic Entities
PROFETA Declarative Syntax
A PROFETA behaviour is a set of rules in the form
Event / Condition >> set of Action
where:
Event can be: belief assert or retract, goal achievement
request, goal failure.
Condition refers to a certain state of the knowledge base.
Action can be: belief assert or retract, goal achievement
request, Python expressions, user defined atomic action.
Example:
+object_at("X","Y") / object_got("no") >>
[ move_to("X", "Y"), pick_object() ]
Such expressions are managed thanks to operator
overloading](https://image.slidesharecdn.com/smartcpssantoro-131219052740-phpapp02/85/Integrating-Cloud-Services-in-Behaviour-Programming-for-Autonomous-Robots-7-320.jpg)
![Integrating Cloud Services in Behaviour Programming for Autonomous Robots
PROFETA
Execution Semantics
PROFETA and the Cloud
A simple robot which responds to voice commands by using TTS
and STT Cloud services (e.g. Google API).
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class utterance ( Belief ): pass
class move_to ( Action ):
def execute ( self ):
x = self [0]
y = self [1]
# ... perform movement to x , y
class hear ( Sensor ):
def sense ( self ):
command = # sample audio data and invoke STT clould service
return + utterance ( command )
class say ( Action ):
def execute ( self ):
phrase = self [0]
# invoke the TTS could service with " phrase "
+ utterance ( " go " )
>> [ say ( " ok , i ’m going " ) , move_to ( " X " , " Y " ) ]](https://image.slidesharecdn.com/smartcpssantoro-131219052740-phpapp02/85/Integrating-Cloud-Services-in-Behaviour-Programming-for-Autonomous-Robots-11-320.jpg)
![Integrating Cloud Services in Behaviour Programming for Autonomous Robots
CLEPTA
A Simple Case-Study
PROFETA + CLEPTA and the Cloud
A simple robot which responds to voice commands by using TTS and
STT Cloud services (e.g. Google API).
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class utterance ( Belief ): pass
class say ( AsyncAction ):
def create_service ( self , lang = ’ en ’ ):
return G o og l eT ex t To S pe ec h ( lang ) # provided by CLEPTA
def execute ( self ):
utterance = self [0]
self . async_invoke ( self . get_service (). say , [ utterance ])
class hear ( Sensor ):
def sense ( self ):
command = # sample audio data and invoke STT clould service
return + utterance ( command )
...
PROFETA . add_sensor ( AsyncSensorProxy ( hear ()))
+ utterance ( " go " ) >> [ say ( " ok , i ’m going " ) , .... ]
+ utterance ( " _ " ) >> [ say ( " could you repeat please ? " ) ]](https://image.slidesharecdn.com/smartcpssantoro-131219052740-phpapp02/85/Integrating-Cloud-Services-in-Behaviour-Programming-for-Autonomous-Robots-17-320.jpg)
Uploaded byCorrado Santoro
Integrating Cloud Services in Behaviour Programming for Autonomous Robots
This document discusses integrating cloud services into behavior programming for autonomous robots. It introduces PROFETA, a framework for programming robot behaviors using a BDI model. PROFETA allows defining behaviors with rules but synchronous execution can cause issues for slow cloud services. CLEPTA is introduced as a decoupling layer to asynchronously execute cloud service sensors and actions. It uses service invokers and proxies asynchronous sensors and actions. This allows a robot to respond to voice commands using asynchronous cloud text-to-speech and speech-to-text services.
Integrating Cloud Services in Behaviour Programming for Autonomous Robots
- 1. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots Integrating Cloud Services in Behaviour Programming for Autonomous Robots Fabrizio Messina, Giuseppe Pappalardo, Corrado Santoro ARSLAB - Autonomous and Robotic Systems Laboratory Dipartimento di Matematica e Informatica Universit` di Catania, Italy a {messina, pappalardo, santoro}@dmi.unict.it C-SmartCPS @ ICA3PP 2013 - Vietri sul Mare, 20 Dicembre 2013
- 2. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots Outline 1 Motivation 2 PROFETA Basic Entities Sensors and Actions Execution Semantics 3 CLEPTA Architecture ASync Sensors and Actions A Simple Case-Study 4 Conclusions
- 3. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots Motivation Motivation (I) Robots are autonomous systems living in a pysical environment. We expect to have home robots in the next few years. Computing platforms for home robots could not possess the adequate amount of computing power — i.e. CPU Power and/or Storage capacity — to perform certain computation-intensive tasks, e.g.: Speech to text, text to speech Speaker recognition NLP processing Image processing Pattern recognition (in general) ...
- 4. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots Motivation Motivation (II) But nowadays home environments are “on the net” And “computation intensive” tasks could be performed “in the cloud” Hence the necessity to include, in robot programming environment/platforms, a proper support for Cloud Computing
- 5. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots PROFETA Basic Entities PROFETA Basics PROFETA (Python RObotic Framework for dEsigning sTrAtegies) is Python tool for programming autonomous systems (agents or robots) using the Belief-Desire-Intention (BDI) model. Designed at ARSLAB @ UNICT in 2010 and available at http://github.com/corradosantoro/profeta PROFETA provides a declarative language as a dialect of AgentSpeak(L). PROFETA is an “all-in-one” environment supporting both imperative (algorithmical part) and declarative (behavioural part) programming models.
- 6. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots PROFETA Basic Entities PROFETA Basics PROFETA provides A set of classes to represent basic BDI entities, i.e. Beliefs ⇒ Knowledge Goals ⇒ States to be achieved Actions ⇒ Things to do to reach the Goals A declarative language—dialect of AgentSpeak(L)—to express agent’s behaviour An engine executing that behaviour A Knowledge base storing the beliefs
- 7. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots PROFETA Basic Entities PROFETA Declarative Syntax A PROFETA behaviour is a set of rules in the form Event / Condition >> set of Action where: Event can be: belief assert or retract, goal achievement request, goal failure. Condition refers to a certain state of the knowledge base. Action can be: belief assert or retract, goal achievement request, Python expressions, user defined atomic action. Example: +object_at("X","Y") / object_got("no") >> [ move_to("X", "Y"), pick_object() ] Such expressions are managed thanks to operator overloading
- 8. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots PROFETA Sensors and Actions Interface with environment: Actions In order to interact with the environment, two abstractions are provided: Actions Sensors An action is defined as a subclass of Action. The execute() method has to implement the computation which concretely performs the action. The associated computation is executed atomically.
- 9. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots PROFETA Sensors and Actions Sensors A Sensor class is provided with the objective of allowing the programmer to write the proper code to “sense” the environment and generate the proper beliefs. The programmer has to: subclass Sensor override the sense() method inform the Engine that a new sensor has been added in the program. Method sense() may return None, nothing has been sensed +bel(...), something has been sensed, a belief is added to the KB and the “add event” is generated. bel(...), something has been sensed, a belief is added to the KB but the “add event” is NOT generated.
- 10. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots PROFETA Execution Semantics PROFETA (Informal) Execution Semantics PROFETA Main Loop Execution: 1 Scan sensors and, for each of them, call the sense() method and analyse the return value. 2 If the return value is an event, e.g.+bel(...), find the relevant rule, verify the condition part and then put the rule in execution. 3 Executes all the actions of the selected rule and then go to 1. 4 Go to 1. Execution is strictly synchronous!
- 11. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots PROFETA Execution Semantics PROFETA and the Cloud A simple robot which responds to voice commands by using TTS and STT Cloud services (e.g. Google API). 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 ... class utterance ( Belief ): pass class move_to ( Action ): def execute ( self ): x = self [0] y = self [1] # ... perform movement to x , y class hear ( Sensor ): def sense ( self ): command = # sample audio data and invoke STT clould service return + utterance ( command ) class say ( Action ): def execute ( self ): phrase = self [0] # invoke the TTS could service with " phrase " + utterance ( " go " ) >> [ say ( " ok , i ’m going " ) , move_to ( " X " , " Y " ) ]
- 12. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots PROFETA Execution Semantics Synchronous Execution The synchronous execution is a desired PROFETA feature, but it could cause some problems. Sensors are polled in sequence only if there are no actions to be executed If actions/sensors are “slow” an agent/robot is blind, w.r.t. events which could happen in the environment Action/Sensor dynamics/duration matters!! Action/Sensor for cloud services are potentially “slow”.
- 13. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots CLEPTA Architecture Introducing CLEPTA To solve the problem a decoupling layer is needed. The layer has to introduce the needed asynchrony in cloud service invocation. CLEPTA (CLoud Extension for ProfeTA) provides a different domain for the asynchronous execution of Sensors and Actions.
- 14. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots CLEPTA Architecture Introducing CLEPTA ServiceInvokers: Entities—subclass of Service—performing the concrete invocation of cloud services. PROFETA/CLEPTA Interface: Layer which, using special kind of Actions and Sensors, connects the ServiceInvokers with the PROFETA domain.
- 15. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots CLEPTA ASync Sensors and Actions Sensors in CLEPTA A PROFETA Sensor is decoupled by wrapping it with a AsyncSensorProxy provided by CLEPTA. The AsyncSensorProxy: Creates a new thread in which the real Sensor executes. Manages a queue to store the beliefs generated by the Sensors (w/ configurable length). It is seens by PROFETA as a classical Sensor.
- 16. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots CLEPTA ASync Sensors and Actions Actions in CLEPTA A PROFETA Action is decoupled by creating it as a subclass of AsyncAction (provided by CLEPTA). Asynchronous execution of the cloud service invocation is handled by an AsyncActionExecutor, it: Creates a new thread in which the Invoker executes. Manages a method queue to store the IDs of methods to be called asynchronously.
- 17. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots CLEPTA A Simple Case-Study PROFETA + CLEPTA and the Cloud A simple robot which responds to voice commands by using TTS and STT Cloud services (e.g. Google API). 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 ... class utterance ( Belief ): pass class say ( AsyncAction ): def create_service ( self , lang = ’ en ’ ): return G o og l eT ex t To S pe ec h ( lang ) # provided by CLEPTA def execute ( self ): utterance = self [0] self . async_invoke ( self . get_service (). say , [ utterance ]) class hear ( Sensor ): def sense ( self ): command = # sample audio data and invoke STT clould service return + utterance ( command ) ... PROFETA . add_sensor ( AsyncSensorProxy ( hear ())) + utterance ( " go " ) >> [ say ( " ok , i ’m going " ) , .... ] + utterance ( " _ " ) >> [ say ( " could you repeat please ? " ) ]
- 18. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots Conclusions Conclusions PROFETA allows to define robot strategies in a flexible and intuitive way, by using the principles of the BDI model. PROFETA combines the advantages of both imperative and declarative approach, while offering an all-in-one environment. CLEPTA adds the ability to exploit, in robot’s behaviour, external services provided “in the cloud”. PROFETA+CLEPA have been successfully applied in various robots built at ARSLab, thus proving the effectiveness of the tool: Voice-driven robots Complex image analysis (e.g. target recognition)
- 19. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots Conclusions References http://github.com/corradosantoro/profeta L. Fichera, D. Marletta, V. Nicosia, C. Santoro. Flexible Robot Strategy Design using Belief-Desire-Intention Model. In Proc. of International Conference on Research and Education in Robotics (EUROBOT 2010), Spriger CCIS Series, Rappreswille, Swizerland), May 27-30, 2010. L. Fichera, D. Marletta, V. Nicosia, C. Santoro. A Methodology to Extend Imperative Languages with AgentSpeak Declarative Constructs. In Proc. of Workshop on Objects and Agents (WOA2010), CEUR-WS Publisher, ISSN 1613-0073, Rimini, Italy, Sept. 5-7, 2010. G. Fortino, W. Russo, C. Santoro. Translating Statecharts-based into BDI Agents: The DSC/PROFETA case. MAS&S Workshop @ MATES 2013. F. Messina, G. Pappalardo, C. Santoro. Integrating Cloud Services in Behaviour Programming for Autonomous Robots. CSmart-CPS Workshop, LNCS, 2013.
- 20. Integrating Cloud Servicesin Behaviour Programming for Autonomous Robots Conclusions Integrating Cloud Services in Behaviour Programming for Autonomous Robots Fabrizio Messina, Giuseppe Pappalardo, Corrado Santoro ARSLAB - Autonomous and Robotic Systems Laboratory Dipartimento di Matematica e Informatica Universit` di Catania, Italy a {messina, pappalardo, santoro}@dmi.unict.it C-SmartCPS @ ICA3PP 2013 - Vietri sul Mare, 20 Dicembre 2013