Planning as incremental adaptation of a reactive system

@article{Lyons1995PlanningAI,
  title={Planning as incremental adaptation of a reactive system},
  author={D. Lyons and A. J. Hendriks},
  journal={Robotics Auton. Syst.},
  year={1995},
  volume={14},
  pages={255-288}
}
Abstract The importance of solving the problem of integrating deliberative (“planning”) capabilities and reactive capabilities when building robust, ‘real-world’ robot systems is becoming widely accepted (Bresina and Drummond, 1990; Fraichard and Laugier, 1991; McDermott, 1991). This paper presents a solution to this problem: cast planning as the incremental adaptation of a reactive system to suit changes in goals or the environment. Our application domain is a manufacturing problem - robotic… Expand
Graph-based path planning for mobile robots
In this thesis, questions of navigation, planning and control of real-world mobile robotic systems are addressed. Chapter II contains the first contribution in this thesis, which is a modificationExpand
Autonomous generation of reflexion-based robot controller using inductive learning
TLDR
A novel architecture for autonomously generating and managing a robot control system, aiming for the application to planetary rovers which will move in a partially unknown, unstructured environment is proposed. Expand
CLEaR: A Framework for Balancing Deliberative and Reactive Control
A major challenge in developing robotic applications for real-world problems is that many domains include tight resource and temporal constraints coupled with uncertainty in how much resource andExpand
A reactive robot architecture with planning on demand
  • Ananth Ranganathan, Sven Koenig
  • Computer Science, Engineering
  • Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
  • 2003
TLDR
A reactive robot architecture that uses fast replanning methods to avoid the shortcomings of reactive navigation, such as getting stuck in box canyons or in front of small openings is described. Expand
Modeling Complex Behavior of Autonomous Agents in Dynamic Environments
Generating “intelligent” behavior in multiagent systems is certainly a difficult task, especially under real-time requirements. Various agent architectures have been developed to provideExpand
INTEGRATED ROBOT PLANNING AND CONTROL WITH EXTENDED KOHONEN MAPS
The problem of goal-directed, collision-free motion in a co mplex, unpredictable environment can be solved by tightly integrating high-level deliberati ve planning with low-level reactive control.Expand
Balancing Robotic Teleoperation and Autonomy in a Complex and Dynamic Environment
TLDR
This thesis focuses on combining the limited abilities of an autonomous agent together with human control, in order to produce a teleautonomous system that supports blending the desires of a robot with the wishes of its human controller. Expand
Embodying a cognitive model in a mobile robot
TLDR
The issues faced in developing an embodied cognitive architecture, the implementation choices, and the formal semantics of RS provides the basis for the semantics of ADAPT's use of natural language are described. Expand
Integrating perception, language and problem solving in a cognitive agent for a mobile robot
TLDR
This paper describes a unified cognitive architecture for a mobile robot based on a theory of cognition embodied in the Soar system, the RS formal model of sensorimotor activity and an algebraic theory of decomposition and reformulation. Expand
Flexible real-time mobile robotic architecture based on behavioural models
TLDR
A real-time mobile robotic architecture to cope with the functional and variable temporal characteristics of behaviour-based mobile robotic applications is proposed and incorporates a quality of service manager (QoSM) that allows dynamically monitor analyse and improve the robot performances. Expand
...
1
2
3
4
...

References

SHOWING 1-10 OF 32 REFERENCES
Knowledge strata: reactive planning with a multi-level architecture
TLDR
Issues of multi-level knowledge representation in the context of "reactive planning systems"; that is, in systems which extend the applicability of AI planning systems to complex, dynamic domains are examined. Expand
Universal Plans for Reactive Robots in Unpredictable Environments
TLDR
This paper describes a new kind of plan, called a "universal plan", which can be synthesized automatically, yet generates appropriate behavior in unpredictable environments, and explicitly identifies predicates requiring monitoring at each moment of execution. Expand
Representing and analyzing action plans as networks of concurrent processes
  • D. Lyons
  • Computer Science
  • IEEE Trans. Robotics Autom.
  • 1993
TLDR
A concurrent-process based representation is developed which represents both the plan and the uncertain and dynamic environment in which the plan operates and a methodology for analyzing the behavior of this interacting system of plan and world. Expand
Adaptive execution in complex dynamic worlds
TLDR
This thesis proposes a plan and task representation based on program-like reactive action packages, or RAPs, which consists of RAP-defined tasks and each RAP generates primitive robot actions at execution time by selecting its most appropriate method. Expand
Integrating behavioral, perceptual, and world knowledge in reactive navigation
  • R. Arkin
  • Computer Science
  • Robotics Auton. Syst.
  • 1990
TLDR
The Autonomous Robot Architecture is the framework within which experiments in the application of knowledge to reactive control are conducted and actual robot experiments and simulation studies demonstrate the flexibility and feasibility of this approach over a wide range of navigational domains. Expand
A formal approach to planning with concurrent actions and external events
Planning was originally formulated in the state-based framework where actions are modeled as functions from instantaneous state to state. This framework provides a simple basis for describing theExpand
Robot Planning
TLDR
This chapter discusses how to mesh plan execution with plan generation and learning, and examines the design of flexible plan notations and the learning of optimal behaviors from reinforcements. Expand
On Line Reactive Planning for a Non Holonomic Mobile in a Dynamic World on Line Reactive Planning for a Non Holonomic Mobile in a Dynamic World
| This paper deals with the problem of planning and controlling the motion of a car like mobile moving in a dynamic and roadway like environment. The contribution presented here is a motionExpand
A process-based approach to task plan representation
  • D. Lyons
  • Computer Science
  • Proceedings., IEEE International Conference on Robotics and Automation
  • 1990
TLDR
A process-based model of robot task plan representation is introduced, and some of its advantages are discussed, and how the method could help in plan generation is indicated. Expand
Representation and automatic synthesis of reaction plans
TLDR
This Dissertation introduces Universal Plans and shows how they can be automatically constructed from a declarative description of the effects of individual actions, freeing the planner from part of the classical frame problem. Expand
...
1
2
3
4
...