{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T10:27:08Z","timestamp":1782988028490,"version":"3.54.5"},"reference-count":40,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2020,12,8]],"date-time":"2020-12-08T00:00:00Z","timestamp":1607385600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["518212"],"award-info":[{"award-number":["518212"]}],"id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["JSAN"],"abstract":"<jats:p>Autonomous systems developed with the Belief-Desire-Intention (BDI) architecture tend to be 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. In this paper, we discuss how we linked the Robot Operating System (ROS) with a BDI reasoning system to achieve a subset of the required use casesand demonstrated the system performance in an analogue environment. ROS handles the connections to the low-level sensors and actuators, while the BDI reasoning system handles the high-level reasoning and decision making. Sensory data is sent to the reasoning system as perceptions using ROS. 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. We demonstrated the performance of the system in an analogue environment.<\/jats:p>","DOI":"10.3390\/jsan9040056","type":"journal-article","created":{"date-parts":[[2020,12,8]],"date-time":"2020-12-08T20:27:15Z","timestamp":1607459235000},"page":"56","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Toward Campus Mail Delivery Using BDI"],"prefix":"10.3390","volume":"9","author":[{"given":"Chidiebere","family":"Onyedinma","sequence":"first","affiliation":[{"name":"School of Electrical Engineering and Computer Science, University of Ottawa, Ottawa, ON K1N 6N5, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7727-0226","authenticated-orcid":false,"given":"Patrick","family":"Gavigan","sequence":"additional","affiliation":[{"name":"Department of Systems and Computer Engineering, Carleton University, Ottawa, ON K1S 5B6, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Babak","family":"Esfandiari","sequence":"additional","affiliation":[{"name":"Department of Systems and Computer Engineering, Carleton University, Ottawa, ON K1S 5B6, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,12,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Bordini, R.H., H\u00fcbner, J.F., and Wooldridge, M. 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