Iterative Goal Refinement for Robotics

  title={Iterative Goal Refinement for Robotics},
  author={Mark Roberts and Swaroop Vattam and Ronald Alford and Bryan Auslander and Justin Karneeb and Matthew Molineaux and Tom Apker and Mark Wilson and James McMahon and David W. Aha},
Goal Reasoning (GR) concerns actors that assume the responsibility for dynamically selecting the goals they pursue. Our focus is on modelling an actor’s decision making when they encounter notable events. We model GR as an iterative refinement process, where constraints introduced for each abstraction layer shape the solutions for successive layers. Our model provides a conceptual framework for robotics researchers and practitioners. We present a goal lifecycle and define a formal model for GR… CONTINUE READING
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