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Planning domain + e...
Planning domain + execution semantics : a way towards robust execution?
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- Konečný, Štefan, 1984- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik,AASS
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- Stock, Sebastian (author)
- Osnabrück University, Osnabrück, Germany
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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
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(creator_code:org_t)
- AAAI Press, 2014
- 2014
- English.
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In: Qualitative Representations for Robots. - : AAAI Press.
- Related links:
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https://urn.kb.se/re...
Abstract
Subject headings
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- Robots are expected to carry out complex plans in real world environments. This requires the robot to track the progress of plan execution and detect failures which may occur. Planners use very abstract world models to generate plans. Additional causal, temporal, categorical knowledge about the execution, which is not included in the planner's model, is often available. Can we use this knowledge to increase robustness of execution and provide early failure detection? We propose to use a dedicated Execution Model to monitor the executed plan based on runtime observations and rich execution knowledge. We show that the combined used of causal, temporal and categorical knowledge allows the robot to detect failures even when the effects of actions are not directly observable. A dedicated Execution model also introduces a degree of modularity, since the platform- and execution-specific knowledge does not need to be encoded into the planner.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Keyword
- Semantic Execution Monitoring
- Execution Monitoring
- Lifted Planning
- Hybrid Reasoning
- HTN
- Computer Science
- Datavetenskap
Publication and Content Type
- ref (subject category)
- kon (subject category)
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