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Execution Knowledge for Execution Monitoring : what, why, where and what for?
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- Konečný, Štefan, 1984- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
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- Pecora, Federico, 1977- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
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- Saffiotti, Alessandro, 1960- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
- (creator_code:org_t)
- 2014
- 2014
- English.
- In: IEEE/RSJ International Conference On Intelligent Robots and Systems (IROS), 2014.
- Conference paper (peer-reviewed)
Abstract
Subject headings
Close
- 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.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Keyword
- Execution Knowledge
- Execution Monitoring
- Semantic Execution Knowledge
- Monitoring Knowledge
- Robotics
- Service Robotics
- Datavetenskap
- Computer Science
Publication and Content Type
- ref (subject category)
- kon (subject category)
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