The Tower of London task (TOL) has been widely used to assess the ability to plan. We used H(2)O(15)-positron emission tomography to isolate some of the cognitive components of the task. Ten male volunteers were scanned twice in each of six conditions. In two conditions (plan) the subjects had to plan the best solution to TOL problems. In two other conditions (plan-control) the subjects were re...

In this paper we present an overview of recent developments in the plan-based control of autonomous robots. We identify computational principles that enable autonomous robots to accomplish complex, diverse, and dynamically changing tasks in challenging environments. These principles include plan-based high-level control, probabilistic reasoning, plan transformation, and context and resource-ada...

Most state-of-the-art hybrid control systems for mobile robots are decomposed into different layers. While the deliberation layer reasons about the actions required for the robot in order to achieve a given goal, the behavioral layer is designed to enable the robot to quickly react to unforeseen events. This decomposition guarantees a safe operation even in the presence of unforeseen and dynami...

Hardware agents as a part of cooperative multi-agent systems act in dynamically changing environments and accomplish tasks jointly. Since the pure hybrid plan representation provides no explicit means to represent particularly communication, task coordination and distribution in the multi-agent system, the proposed plan representation was adjusted to describe these aspects and combines the hybr...

Plans with temporal flexibility have been used to allow discrete systems to adapt to disturbances that occur while the plan is being executed. To control more complex devices, such as bipedal walking machines, we must extend this execution paradigm to the control of hybrid (discrete/continuous) systems. Systems of this type are difficult to control for two reasons: 1) their high dimensionality ...

O Plan is a command planning and control architecture which has an open modular structure intended to allow experimentation on or replacement of various components The research is seeking to isolate functionality that may be generally required in a number of applications and across a number of di erent planning scheduling and control systems This paper describes the way in which plan constraint...