| 1. |
- Coradeschi, Silvia, et al.
(author)
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Perceptual anchoring : a key concept for plan execution in embedded systems
- 2002
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In: Advances in Plan-Based Control of Robotic Agents. - Berlin, Heidelberg : Springer Berlin Heidelberg. - 3540001689 ; , s. 97-126
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Conference paper (peer-reviewed)abstract
- Anchoring is the process of creating and maintaining the correspondence between symbols and percepts that refer to the same physical objects. This process must necessarily be present in any physically embedded system that includes a symbolic component, for instance, in an autonomous robot that uses a planner to generate strategic decisions. However, no systematic study of anchoring as a problem per se has been reported in the literature on intelligent systems. In this paper, we advocate for the need for a domain-independent framework to deal with the anchoring problem, and we report some initial steps in this direction. We illustrate our arguments and framework by showing experiments performed on a real mobile robot
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| 2. |
- Karlsson, Lars, et al.
(author)
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Progressive planning for mobile robots : a progress report
- 2002
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In: Advances in Plan-Based Control of Robotic Agents. - Berlin, Heidelberg : Springer Berlin Heidelberg. - 3540001689 ; , s. 273-297
-
Conference paper (peer-reviewed)abstract
- In this article, we describe a possibilistic/probabilistic conditional planner called PTLplan, and how this planner can be integrated with a behavior-based fuzzy control system called the Thinking Cap in order to execute the generated plans. Being inspired by Bacchus and Kabanza's TLplan, PTLplan is a progressive planner that uses strategic knowledge encoded in a temporal logic to reduce its search space. Actions' effects and sensing can be context dependent and uncertain, and the resulting plans may contain conditional branches. When these plans are executed by the control system, they are transformed into B-plans which essentially are combinations of fuzzy behaviors to be executed in different contexts
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