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Image Understanding and Knowledge-Based Systems

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85748 Garching

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Planning, Scheduling, and Plan Execution for Autonomous Robot Office Couriers (bibtex)
Planning, Scheduling, and Plan Execution for Autonomous Robot Office Couriers (bibtex)
by M Beetz and M Bennewitz
Abstract:
Scheduling the tasks of an autonomous robot office courier and carrying out the scheduled tasks reliably and efficiently pose challenging problems for autonomous robot control. The controller has to accomplish longterm efficiency rather than optimize problem-solving episodes. It also has to exploit opportunities and avoid problems flexibly because often the robot is forced to generate schedules based on partial information. We propose to implement the controller for scheduled activity by employing concurrent reactive plans that reschedule the course of action whenever necessary and while performing their actions. The plans are represented modularly and transparently to allow for easy transformation. Scheduling and schedule repair methods are implemented as plan transformation rules.
Reference:
Planning, Scheduling, and Plan Execution for Autonomous Robot Office Couriers (M Beetz and M Bennewitz), In Proceedings of the workshop “Integrating Planning, Scheduling and Execution in Dynamic and Uncertain Environments” at the Fourth International Conference on AI in Planning Systems (AIPS) (R. Bergmann, A. Kott, eds.), AAAI Press, volume Workshop Notes 98-02, 1998. 
Bibtex Entry:
@inproceedings{beetz_planning_1998,
 author = {M Beetz and M Bennewitz},
 title = {Planning, Scheduling, and Plan Execution for Autonomous Robot Office
	Couriers},
 booktitle = {Proceedings of the workshop {“Integrating} Planning, Scheduling and
	Execution in Dynamic and Uncertain Environments” at the Fourth International
	Conference on {AI} in Planning Systems ({AIPS)}},
 year = {1998},
 editor = {Bergmann, R. and Kott, A.},
 volume = {Workshop Notes 98-02},
 publisher = {{AAAI} Press},
 abstract = {Scheduling the tasks of an autonomous robot office courier and carrying
	out the scheduled tasks reliably and efficiently pose challenging
	problems for autonomous robot control. The controller has to accomplish
	longterm efficiency rather than optimize problem-solving episodes.
	It also has to exploit opportunities and avoid problems flexibly
	because often the robot is forced to generate schedules based on
	partial information. We propose to implement the controller for scheduled
	activity by employing concurrent reactive plans that reschedule the
	course of action whenever necessary and while performing their actions.
	The plans are represented modularly and transparently to allow for
	easy transformation. Scheduling and schedule repair methods are implemented
	as plan transformation rules.},
}
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Informatik IX

Image Understanding and Knowledge-Based Systems

Boltzmannstrasse 3
85748 Garching

info@iuks.in.tum.de