利用BDI实现校园邮件传递
Toward Campus Mail Delivery Using BDI
摘要：
采用BDI架构开发的自治系统通常主要在模拟环境中实现。在这个项目中，我们试图建立一个BDI代理在现实世界中使用的校园邮件在隧道系统中在卡尔顿大学。理想情况下，机器人应该通过移动应用程序接收送货订单，在车站取邮件，通过隧道到达目的地车站，并通知收件人。我们将机器人操作系统（ROS）与BDI推理系统链接，以实现所需用例的子集。ROS处理低级的感知和驱动，而BDI推理系统处理高级的推理和决策。感官数据被编排并作为感知从ROS发送到推理系统。然后，这些感知被仔细考虑，并且动作串被发送回ROS，用于解释和驱动要执行的动作所需的致动器。在本文中，我们提出了我们目前的实现，它关闭了硬件-软件集成的循环，并实现了整个系统所需的用例的子集。
英文摘要：
Autonomous systems developed with the Belief-Desire-Intention (BDI) architecture are usually mostly implemented in simulated environments. In this project we sought to build a BDI agent for use in the real world for campus mail delivery in the tunnel system at Carleton University. Ideally, the robot should receive a delivery order via a mobile application, pick up the mail at a station, navigate the tunnels to the destination station, and notify the recipient. We linked the Robot Operating System (ROS) with a BDI reasoning system to achieve a subset of the required use cases. ROS handles the low-level sensing and actuation, while the BDI reasoning system handles the high-level reasoning and decision making. Sensory data is orchestrated and sent from ROS to the reasoning system as perceptions. These perceptions are then deliberated upon, and an action string is sent back to ROS for interpretation and driving of the necessary actuator for the action to be performed. In this paper we present our current implementation, which closes the loop on the hardware-software integration, and implements a subset of the use cases required for the full system.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
