by M Beetz
Abstract:
Autonomous robots that perform complex jobs in changing environments must be capable of managing their plans as the environmental conditions or their tasks change. This raises the problem of deciding whether, when, where, and how to revise the plans as the robots' beliefs change. This article investigates an approach to execution time plan management in which the plans themselves specify the plan adaptation processes. In this approach the robot makes strategical (farsighted) adaptations while it executes a plan using tactical (immediate) decisions and overwrites tactical adaptations after strategical decisions have been reached (if necessary). We present experiments in which the plan adaptation technique is used for the control of two autonomous mobile robots. In one of them it controlled the course of action of a museums tourguide robot that has operated for thirteen days and performed about 3200 plan adaptations reliably.
Reference:
Plan Management for Robotic Agents (M Beetz), In KI - Künstliche Intelligenz; Special Issue on Planning and Scheduling, volume 15, 2001.
Bibtex Entry:
@article{beetz_plan_2001,
author = {M Beetz},
title = {Plan Management for Robotic Agents},
journal = {{KI} - Künstliche Intelligenz; Special Issue on Planning and Scheduling},
year = {2001},
volume = {15},
pages = {12–17},
number = {2},
abstract = {Autonomous robots that perform complex jobs in changing environments
must be capable of managing their plans as the environmental conditions
or their tasks change. This raises the problem of deciding whether,
when, where, and how to revise the plans as the robots' beliefs change.
This article investigates an approach to execution time plan management
in which the plans themselves specify the plan adaptation processes.
In this approach the robot makes strategical (farsighted) adaptations
while it executes a plan using tactical (immediate) decisions and
overwrites tactical adaptations after strategical decisions have
been reached (if necessary). We present experiments in which the
plan adaptation technique is used for the control of two autonomous
mobile robots. In one of them it controlled the course of action
of a museums tourguide robot that has operated for thirteen days
and performed about 3200 plan adaptations reliably.},
}