Planning with Pr/T nets

Author

Zhang, Du

Author_Institution

Dept. of Comput. Sci., California State Univ., Sacramento, CA, USA

fYear

1991

fDate

9-11 Apr 1991

Firstpage

769

Abstract

A plan generating tool for robotic applications is described. The tool, called ROPES (robot plan generating system), is based on modeling STRIPS-like rules by a special type of Petri nets called predicate/transition(Pr/T) nets. Once a set of STRIPS-like rules gets translated into its Pr/T net equivalence, an analysis technique of the Pr/T nets, called the T-invariant method, is utilized to generate robot plans. The research results have indicated that ROPES: provides a domain-independent formalism that blends together the concepts of the state of the world, actions, goals, and plans; supports conjunctive and hierarchical planning: handles nonlinear plans in a effective way; and offers facilities for monitoring plan execution and recovery

Keywords

Petri nets; planning (artificial intelligence); robots; Petri nets; Pr/T nets; ROPES; STRIPS-like rules; T-invariant method; conjunctive planning; domain-independent formalism; hierarchical planning; monitoring; nonlinear plans; plan execution; plan generating tool; plan recovery; predicate/transition nets; robot plan generating system; Application software; Artificial intelligence; Computer science; Intelligent robots; Logic; Monitoring; Petri nets; Strips;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131679

Filename

131679