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  • Konečný, Štefan, 1984-, et al. (author)
  • Execution Knowledge for Execution Monitoring : what, why, where and what for?
  • 2014
  • In: IEEE/RSJ International Conference On Intelligent Robots and Systems (IROS), 2014.
  • Conference paper (peer-reviewed)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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Type of publication
conference paper (1)
Type of content
peer-reviewed (1)
Author/Editor
Pecora, Federico, 19 ... (1)
Saffiotti, Alessandr ... (1)
Konečný, Štefan, 198 ... (1)
University
Örebro University (1)
Language
English (1)
Research subject (UKÄ/SCB)
Natural sciences (1)
Year
2014 (1)

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