Advances in plan-based control of robotic agents
Subtitle: international seminar, Dagstuhl Castle, Germany, October 21-26, 2001 : revised papers
By: Michael Beetz ... [et al.], eds.
Contributors: Beetz, Michael, 1961-
Series: Lecture notes in computer science -- 2466. -- Lecture notes in artificial intelligenceLecture notes in artificial intelligence; Lecture notes in computer science -- 2466.; Lecture notes in computer science
Publisher: Springer
Published: 2002
Place of publication: Berlin; New York
Language: eng
Number of pages: 289
Subjects: Robots -- Control systems -- Congresses; Autonomous robots -- Congresses; Intelligent agents (Computer software) -- Congresses; Intelligent control systems -- Congresses
Genres: Congresses.
Description: In recent years, autonomous robots, including Xavier, Martha [1], Rhino [2,3], Minerva,and Remote Agent, have shown impressive performance in long-term demonstrations. In NASA’s Deep Space program, for example, an - tonomous spacecraft controller, called the Remote Agent [5], has autonomously performed a scienti?c experiment in space. At Carnegie Mellon University, Xavier [6], another autonomous mobile robot, navigated through an o?ce - vironment for more than a year, allowing people to issue navigation commands and monitor their execution via the Internet. In 1998, Minerva [7] acted for 13 days as a museum tourguide in the Smithsonian Museum, and led several thousand people through an exhibition. These autonomous robots have in common that they rely on plan-based c- trol in order to achieve better problem-solving competence. In the plan-based approach, robots generate control actions by maintaining and executing a plan that is e?ective and has a high expected utility with respect to the robots’ c- rent goals and beliefs. Plans are robot control programs that a robot can not only execute but also reason about and manipulate [4]. Thus, a plan-based c- troller is able to manage and adapt the robot’s intended course of action — the plan — while executing it and can thereby better achieve complex and changing tasks.
Notes: Includes bibliographical references and index.