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- Konečný, Štefan, 1984-, et al.
(författare)
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Execution Knowledge for Execution Monitoring : what, why, where and what for?
- 2014
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Ingår i: IEEE/RSJ International Conference On Intelligent Robots and Systems (IROS), 2014.
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Konferensbidrag (refereegranskat)abstract
- Despite the progress made in planning androbotics, autonomous plan execution on a robot remainschallenging. One of the problems is that (classical) plannersuse abstract models which are disconnected from the sensorand actuation information available during execution. Thisconnection is typically created in a non-systematic way by somesystem-specific execution software. In this paper we proposeto explicitly represent Execution Knowledge that encodes theconnection between planning models and the actual actionsand observations for a given physical system. We present anexecution monitoring framework in which Execution Knowl-edge captures the expectations about physical plan execution.A violation of these expectations indicates an execution failure.
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