R. James Firby

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A model of purely reactive planning is proposed based on the concept of reactive action packages. A reactive action package, or RAP, can be thought of as an independent entity pursuing some goal in competition with many others at execution time. The RAP processing algorithm addresses the problems of execution monitoring and replanning in uncertain domains(More)
This paper brie y describes a robot architecture that has been under development for the last eight years This architecture uses several levels of abstraction and description languages that are compat ible between levels The makeup of the architecture helps to coordinate planful activities with real time behaviors for dealing with dynamic en vironments In(More)
This paper describes an extension to the RAP system task-net semantics and representation language to enable the effective control of continuous processes. The representation addresses the problems of synchronizing plan expansion with events in the world, coping with multiple, non-deterministic task outcomes, and the description of a simple form of clean-up(More)
The RAP reactive plan execution system is specifically designed to accept plans and goals at a high level of abstraction and expand them into detailed actions at run time. One of the key features of the RAP system is the use of hierarchical expansion methods that allow different paths of execution for the same goals in different situations. Another central(More)
This dissertation presents the complete integrated planning, executing and learning robotic agent Rogue. Physical domains are notoriously hard to model completely and correctly. Robotics researchers have developed learning algorithms to successfully tune operational parameters. Instead of improving low-level actuator control, our work focusses instead at(More)
Vision systems that have successfully supported nontrivial tasks have invariably taken advantage of constraints derived from the task and environment to increase reliability and lower the complexity of perception. We propose that it is possible to build a general purpose vision system, that is, one that can support a wide variety of tasks, and take(More)
The University of Chicago's robot, C H I P , is part of the Animate Agent Project, aimed at understanding the software architecture and knowledge representations needed to build a general-purpose robotic assistant. CHIP's strategy for the Office Cleanup event of the 1995 Robot Competition and Exhibition was to scan an entire area systematically and, as(More)
Many intelligent interfaces must recognize patterns of user activity that cross a variety of different input channels. These multimodal interfaces offer significant challenges to both the designer and the software engineer. The designer needs a method of expressing interaction patterns that has the power to capture real use cases and a clear semantics. The(More)