A framework for plan execution in behavior-based robots

We present a conceptual architecture for autonomous robots that integrates behavior-based and goal-directed action as by following a traditional action plan. Dual dynamics is the formalism for describing behavior-based action. Partial-order propositional plans are used as a basis for acting goal-dir...

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Bibliographic Details
Main Authors: Hertzberg, J., Jaeger, H., Zimmer, U., Morignot, P.
Format: Conference Proceeding
Language:English
Subjects:
Artificial intelligence
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Robot sensing systems
Sensor phenomena and characterization
Strategic planning
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Summary:We present a conceptual architecture for autonomous robots that integrates behavior-based and goal-directed action as by following a traditional action plan. Dual dynamics is the formalism for describing behavior-based action. Partial-order propositional plans are used as a basis for acting goal-directedly; the concept is suitable for using other planning methods and plan formats, though. We describe the corresponding action and plan representations at the plan side and at the behavior side. Moreover, we demonstrate how behavior-based action is biased towards executing a plan and how information from the behavior side is fed back to the plan side to determine progress in the plan execution.
ISSN:2158-9860
2158-9879
DOI:10.1109/ISIC.1998.713627