Cognitive
Robotics
Papers from the AAAI Workshop
Technical Report WS-06-03
AAAI Press
American Association for Artificial Intelligence
AAAI Press
445 Burgess Drive
Menlo Park, California 94025
ISBN 978-1-57735-285-3
WS-06-03
Cognitive
Robotics
Papers from the AAAI Workshop
Michael Beetz, Kanna Rajan, Michael Thielscher,
and Radu Bogdan Rusu, Cochairs
Technical Report WS-06-03
AAAI Press
Menlo Park, California
Copyright © 2006, AAAI Press
The American Association for Artificial Intelligence
445 Burgess Drive
Menlo Park, California 94025 USA
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ISBN 978-1-57735-285-3 WS-06-03
Manufactured in the United States of America
Organizing Committee
Michael Beetz, Computer Science Department,
Technische Universitaet Muenchen (cochair)
Kanna Rajan, Monterey Bay Aquarium
Research Institute (cochair)
Michael Thielscher, Computer Science Department,
Dresden University of Technology (cochair)
Radu Bogdan Rusu, Computer Science Department,
Technische Universitaet Muenchen (cochair)
Program Committee
Chitta Baral, Department of Computer Science and Engineering, Arizona State University
Patrick Doherty, Department of Computer and Information Science at Linköping University
Joachim Hertzberg, Institute of Computer Science at University of Osnabrück
Gerhard Lakemeyer, Department of Computer Science V at Aachen University of Technology
John J. Leonard, CSAIL at Massachusetts Institute of Technology
Yves Lespérance, Department of Computer Science and Engineering at York University
David Wettergreen, Robotics Institute at Carnegie Mellon University
This AAAI–06 Workshop was held July 16–17, 2006,
in Boston, Massachusetts USA
iii
Contents
Preface / vii
Instance-Based Action Models for Fast Action Planning / 1
Mazda Ahmadi and Peter Stone
Towards Human-Aware Cognitive Robots / 9
Rachid Alami, Raja Chatila, Aurélie Clodic, Sara Fleury, Matthieu Herrb,
Vincent Montreuil, and Emrah Akin Sisbot
Reasoning about Actions in Biophysical Systems / 17
Chitta Baral, Juraj Dzifcak, Nam Tran, and Jicheng Zhao
Robust Execution of Contingent, Temporally Flexible Plans / 25
Stephen A. Block and Brian C. Williams
Cooperative Solving of a Children's Jigsaw Puzzle between
Human and Robot: First Results / 33
Catherina Burghart, Christian Gaertner, and Heinz Woern
A Layered Heterogeneous Cognitive Robotics Architecture / 40
Alistair E. R. Campbell and Debra T. Burhans
Factored Planning for Controlling a Robotic Arm: Theory / 47
Jaesik Choi and Eyal Amir
An Unmanned Aerial System for Autonomous Surveillance / 55
Michael Freed, Will Fitzgerald, and Robert Harris
Learning Predictive Features in Affordance-based
Robotic Perception Systems / 61
Gerald Fritz, Lucas Paletta, Georg Dorffner,
Ralph Breithaupt, and Erich Rome
Embodied Enumeration: Appealing to Activities
for Mathematical Explanation / 69
Albert Goldfain
Co-Designing Agents / 77
Albert Goldfain, Michael W. Kandefer, Stuart C. Shapiro,
and Josephine Anstey
Incremental Plan Recognition in an Agent Programming Framework / 83
Alexandra Goultiaeva and Yves Lespérance
v
Classification of Composite Actions Involving Interaction with Objects / 91
Rakesh Gupta and Trupti Devdas Nayak
Robotic Partners’ Bodies and Minds: An Embodied Approach
to Fluid Human-Robot Collaboration / 95
Guy Hoffman and Cynthia Breazeal
Monocular Virtual Trajectory Estimation with Dynamical Primitives / 103
Odest Chadwicke Jenkins, Germán González, and Matthew M. Loper
A Machine Consciousness Approach to Autonomous Mobile Robotics / 111
Raúl Arrabales Moreno and Araceli Sanchis de Miguel
Designing and Implementing a Plan Library for a Simulated Household Robot / 119
Armin Müller and Michael Beetz
Integrated Hybrid Cognitive Architecture for a Virtual Roboscout / 129
Alexei V. Samsonovich, Giorgio A. Ascoli, Kenneth A. De Jong, and Mark A. Coletti
Kalman Based Temporal Difference Neural Networks for
Policy Generation under Uncertainty (KBTDNN) / 135
Alp Sardag and H. Levent Akin
Gestures Reflect Cognitive as Well as Interactional
Capacities (position paper) / 141
Candace L. Sidner and Christopher Lee
Long Term Requirements for Cognitive Robotics / 143
Aaron Sloman, Jeremy Wyatt, Nick Hawes,
Jackie Chappell, and Geert-Jan M. Kruijff
Object Discovery through Motion, Appearance and Shape / 151
Tristram Southey and James J. Little
Autonomous Planned Color Learning on a Mobile Robot
without Labeled Data / 159
Mohan Sridharan and Peter Stone
Expectation-Based Vision for Precise Self-Localization
on a Mobile Robot / 167
Daniel Stronger and Peter Stone