Interleaving Planning and Execution for Autonomous Robots

Erscheinungsjahr 2012
ISBN: 978-1-4613-7900-3
Verlag: Springer

Buch, Englisch, 145 Seiten, Format (B × H): 155 mm x 235 mm, Gewicht: 265 g

Reihe: The Springer International Series in Engineering and Computer Science

develops a formal representation for interleaving planning and execution in the context of incomplete information. This work bridges the gap between theory and practice in robotics by presenting control architectures that are provably sound, complete and optimal, and then describing real-world implementations of these robot architectures. Dervish, winner of the 1994 AAAI National Robot Contest, is one of the robots featured.
is based on the author's PhD research, covering the same material taught in CS 224, the very popular Introduction to Robot Programming Laboratory taught at Stanford for four years by Professor Michael Genesereth and the author.

Zielgruppe

Research

Autoren/Hrsg.

Nourbakhsh, Illah Reza

Fachgebiete

• Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau
• Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz

Inhaltsverzeichnis

1 Introduction.- 1.1 Motivation.- 1.2 Contributions.- 1.3 Contents of Chapters.- 2 Perception and Action.- 2.1 The Situated Robot and its Environment.- 2.2 Defining State and State Update.- 2.3 Comparison to other Conventional Approaches.- 2.4 Conclusion.- 3 Formalizing Incomplete Information.- 3.1 Sources of Incomplete Information.- 3.2 Representing Incomplete Information.- 3.3 State-Set Tracking: Execution Monitoring.- 3.4 Related Work.- 4 Goal-Directed Control Systems.- 4.1 Defining a Problem Instance.- 4.2 Advance Planning Control Systems.- 4.3 Related Work.- 5 Interleaving Planning and Execution.- 5.1 Introduction: Interleaving.- 5.2 Premature Search Termination.- 5.3 Experimental Results.- 5.4 Related Work.- 6 Using Assumptions to Oversimplify.- 6.1 Introduction.- 6.2 Assumptions.- 6.3 Assumptive Control Systems.- 6.4 Continuous Selection Algorithm.- 6.5 The Cost of Assumptions.- 6.6 Large-scale Real-World Experimental Results.- 6.7 Related Work.- 6.8 Conclusion.- 7 Strategic Subgoaling: Using Abstraction Systems.- 7.1 Introduction.- 7.2 Problem Spaces.- 7.3 Abstraction.- 7.4 Examples of Abstraction Systems and their Cost.- 7.5 Related Work and Discussion.- 8 Generalizing beyond State Sets>.- 8.1 Introduction.- 8.2 Representation Examples.- 8.3 Conclusion.- 9 Conclusions.