Robot Planning, Execution, and Monitoring in an Uncertain Environment
نویسنده
چکیده
An in te l l igent robot, operating in an external environment that cannot be f u l l y modeled in the robot's software, must be able to monitor the suc cess of its execution of a previously generated plan . This paper outlines a unif led i ormalism for describing and relat ing the various functi ons oi a robot operating in such an environment. After exploring the d is t inet ion between the external world and the robot' s i nternal model of i t , and the d is t inct ion between actions that interact with the world and the robot's descriptions of those actions, we formalize the concepts of a plan and of i ts execution. Current developments at Stanford Research Inst i tu te , and the benchmark idea oi an ultimate rat ional robot, are both analyzed in this framework. INTRODUCTION AND MOTIVATION In robotry, however, a di f ferent s i tuat ion obtains. The system must interact wlth the real environment, or world, which is represented inter nally by the robot's model. In general' for a number of reasons, th is representation w i l l be neither comprehensive nor exact : (1) Real-valued quant it ies cannot bo measured, nor represented, with i n f m i t e precision ; (2) Many physical objects and s i tuat i ons do not admit of complete description (for example, a human, or a complex piece of
منابع مشابه
Soccer Goalkeeper Task Modeling and Analysis by Petri Nets
In a robotic soccer team, goalkeeper is an important challenging role, which has different characteristics from the other teammates. This paper proposes a new learning-based behavior model for a soccer goalkeeper robot by using Petri nets. The model focuses on modeling and analyzing, both qualitatively and quantitatively, for the goalkeeper role so that we have a model-based knowledge of the ta...
متن کاملExperience with a Task Control Architecture for Mobile Robots
T h i s paper presents a general-purpose architecture for oonyolling mobde robots, and describes a working mobile manipulator which uses the architecture to operate in a dynamic and uncertain environment. The target of this work is to develop a distributed robot architecture for planning, execution, monitoring, exception handling, and multiple task coordination. We report our progress to date o...
متن کاملTowards Focused Plan Monitoring : A Technique and an Application toMobile
Until recently, techniques for AI plan generation relied on highly restrictive assumptions that were almost always violated in real-world environments; consequently, robot designers adopted reactive architectures and avoided AI planning techniques. Some recent research efforts have focused on obviating such assumptions by developing techniques that enable the generation and execution of plans i...
متن کاملActive Execution Monitoring Using Planning and Semantic Knowledge
To cope with the dynamics and uncertainty inherent in real world environments, autonomous mobile robots need to perform execution monitoring for verifying that their plans are executed as expected. Domain semantic knowledge has lately been proposed as a source of information to derive and monitor implicit expectations of executing actions. For instance, when the robot moves into an office, it w...
متن کاملRobot Path Planning Using Cellular Automata and Genetic Algorithm
In path planning Problems, a complete description of robot geometry, environments and obstacle are presented; the main goal is routing, moving from source to destination, without dealing with obstacles. Also, the existing route should be optimal. The definition of optimality in routing is the same as minimizing the route, in other words, the best possible route to reach the destination. In most...
متن کامل