Title :
A framework for plan execution in behavior-based robots
Author :
Hertzberg, J. ; Jaeger, H. ; Zimmer, U. ; Morignot, P.
Author_Institution :
GMD, Sankt Augustin, Germany
Abstract :
We present a conceptual architecture for autonomous robots that integrates behavior-based and goal-directed action as by following a traditional action plan. Dual dynamics is the formalism for describing behavior-based action. Partial-order propositional plans are used as a basis for acting goal-directedly; the concept is suitable for using other planning methods and plan formats, though. We describe the corresponding action and plan representations at the plan side and at the behavior side. Moreover, we demonstrate how behavior-based action is biased towards executing a plan and how information from the behavior side is fed back to the plan side to determine progress in the plan execution
Keywords :
intelligent control; robot dynamics; autonomous robots; behavior-based action; behavior-based robots; dual dynamics; feedback; goal-directed action; partial-order propositional plans; plan execution; traditional action plan; Artificial intelligence; Filtering; Navigation; Robot sensing systems; Sensor phenomena and characterization; Strategic planning;
Conference_Titel :
Intelligent Control (ISIC), 1998. Held jointly with IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Intelligent Systems and Semiotics (ISAS), Proceedings
Conference_Location :
Gaithersburg, MD
Print_ISBN :
0-7803-4423-5
DOI :
10.1109/ISIC.1998.713627