Robert T. Effinger

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In order for an autonomous agent to successfully complete its mission, the agent must be able to quickly re-plan on the fly, as unforeseen events arise in the environment. This is enabled through the use of temporally flexible plans, which allow the agent to adapt to execution uncertainties, by not over committing to timing constraints, and through(More)
In this paper we extend dynamic controllability of temporally-flexible plans to temporally-flexible reactive programs. We consider three reactive programming language constructs whose behavior depends on runtime observations; conditional execution, iteration, and exception handling. Temporally-flexible reactive programs are distinguished from(More)
Autonomous robots are being considered for increasingly capable roles in our society, such as urban search and rescue, automation for assisted living, and lunar habitat construction. To fulfill these roles, teams of autonomous robots will need to cooperate together to accomplish complex mission objectives in uncertain and dynamic environments. In these(More)
In the future, NASA envisions robotic assistants seamlessly interacting with astronauts. These robots must be capable of understanding abstract tasks, and must also reliably execute the tasks. We make progress towards these goals by firstly developing a task-level programming language, called RMPL, that robots can directly interpret and understand.(More)
Many planning and design problems can be characterized as optimal search over a constrained network of conditional choices with preferences. To draw upon the advanced methods of constraint satisfaction to solve these types of problems, many dynamic and flexible CSP variants have been proposed. One such variant is the Weighted Conditional CSP (WCCSP). So(More)