Retalis Language for Information Engineering in Autonomous Robot Software.

Robotic information engineering is the processing and management of data to create knowledge of the robot’s environment. It is an essential robotic tech- nique to apply AI methods such as situation awareness, task-level planning and knowledge-intensive task execution. Consequently, information engineering has been identified as a major challenge to make robotic systems more responsive to real-world situations. The Retalis language integrates ELE and SLR, two logic-based languages. Retalis is used to develop information engineering com- ponents of autonomous robots. In such a component, ELE is used for temporal and logical reasoning, and data transformation in flows of data. SLR is used to implement a knowledge base maintaining a history of events. SLR supports state-based representation of knowledge built upon discrete sensory data, man- agement of sensory data in active memories and synchronization of queries over asynchronous sensory data. In this paper, we introduce eight requirements for robotic information engineering, and we show how Retalis unifies and advances the state-of-the-art research on robotic information engineering. Moreover, we evaluate the efficiency of Retalis by implementing an application for a NAO robot. Retalis receives events about the positions of objects with respect to the top camera of NAO robot, the transformation among the coordinate frames of NAO robot, and the location of the NAO robot in the environment. About one thousand and nine hundreds events per second are processed in real-time to calculate the positions of objects in the environment.

Authors

• Pouyan Ziafati
• Mehdi Dastani
• John-Jules Ch. Meyer
• Leon van der Torre
• Holger Voos

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