Title :
Interleaving planning and robot execution for asynchronous user requests
Author :
Haigh, Karen Zita ; Veloso, Manuela M.
Author_Institution :
Dept. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
This paper describes ROGUE, an integrated planning and executing robotic agent. ROGUE is designed to be a roving office gopher unit, doing tasks such as picking up & delivering mail and returning & picking up library books, in a setup where users can post tasks for the robot to do. We have been working towards the goal of building a completely autonomous agent which can learn from its experiences and improve upon its own behaviour with time. This paper describes what we have achieved to-date: (1) a system that can generate and execute plans for multiple interacting goals which arrive asynchronously and whose task structure is not known a priori, interrupting and suspending tasks when necessary, and (2) a system which can compensate for minor problems in its domain knowledge, monitoring execution to determine when actions did not achieve expected results, and re-planning to correct failures
Keywords :
intelligent control; mobile robots; planning (artificial intelligence); ROGUE; asynchronous user requests; completely autonomous agent; domain knowledge; integrated planning and executing robotic agent; multiple interacting goals; re-planning; roving office gopher unit; Autonomous agents; Books; Buildings; Computer science; Condition monitoring; Interleaved codes; Learning systems; Libraries; Postal services; Robots;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.570649