Title :
A formal model for reactive robot plans
Author :
Lyons, Damian M.
Author_Institution :
North American Philips Corp., Briarcliff Manor, NY, USA
Abstract :
An approach to the representation and analysis of flexible plans, i.e. plans that react to suit the current environment, is described. A formal model has been constructed for building and reasoning about such plans. The model can represent both the plan and the uncertain environment in which the plan is to be carried out. The concept of a flexible plan is demonstrated using a mixed-batch assembly example. A number of examples of uncertain and dynamic environments that can be represented are presented. The author´s, approach is to use a special-purpose model of distributed computation in which plans are hierarchical networks of processes. This model has a rich vocabulary of composition operators for describing plans and world models. The plan analysis techniques are derived from the field of process algebra
Keywords :
inference mechanisms; planning (artificial intelligence); robots; artificial intelligence; formal model; hierarchical networks; mixed-batch assembly; planning; process algebra; reactive robot plans; reasoning; world models; Buildings; Computational modeling; Computer networks; Distributed computing; Intelligent agent; Job shop scheduling; Roads; Robotic assembly; Service robots; Vocabulary;
Conference_Titel :
Computer Integrated Manufacturing, 1990., Proceedings of Rensselaer's Second International Conference on
Conference_Location :
Troy, NY
Print_ISBN :
0-8186-1966-X
DOI :
10.1109/CIM.1990.128135
