Concurrent Reactive Plans : Anticipating and Forestalling Execution Failures - Michael Beetz

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Concurrent Reactive Plans

Anticipating and Forestalling Execution Failures

By: Michael Beetz

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Paperback | 8 March 2000

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236 Pages

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23.5 x 15.88 x 1.27

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In this book, the author presents a new computational model of forestalling common flaws in autonomous robot behavior. To this end, robots are equipped with structured reactive plans (SRPs) which are concurrent control programs that can not only be interpreted but also be reasoned about and manipulated. The author develops a representation for SRPs in which declarative statements for goals, perceptions, and beliefs make the structure and purpose of SRPs explicit and thereby simplify and speed up reasoning about SRPs and their projections; furthermore a notation is introduced allowing for transforming and manipulating SRPs. Using this notation, a planning system can diagnose and forestall common flaws in robot plans that cannot be dealt with in other planning representations. Finally the language for writing SRPs is extended into a high-level language that can handle both planning and execution actions.

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Abstract	p. V
Acknowledgements	p. IX
List of Figures	p. XV
Introduction	p. 1
The Approach	p. 3
Technical Challenges	p. 6
Introductory Example	p. 8
Motivation	p. 11
Relevance for Autonomous Robot Control	p. 11
Relevance for AI Planning	p. 12
The Computational Problem and Its Solution	p. 13
The Computational Problem	p. 13
The Computational Model	p. 14
Contributions	p. 15
Outline of the Book	p. 19
Reactivity	p. 21
The DeliveryWorld	p. 22
The World	p. 22
Commands and Jobs	p. 25
The Robot	p. 26
Justification of the DeliveryWorld	p. 27
The Implementation of Routine Activities	p. 28
Plan Steps vs. Concurrent Control Processes	p. 29
Interfacing Continuous Control Processes	p. 31
Coordinating Control Processes	p. 33
Synchronization of Concurrent Control Threads	p. 35
Failure Recovery	p. 36
Perception	p. 37
State, Memory, and World Models	p. 37
The Structure of Routine Activities	p. 39
The Structured Reactive Controller	p. 40
Behavior and Planning Modules	p. 41
The Body of the Structured Reactive Controller	p. 42
Global Fluents, Variables, and the Plan Library	p. 43
The RPL Runtime System	p. 43
Summary and Discussion	p. 44
Planning	p. 47
The Structured Reactive Plan	p. 47
Plans as Syntactic Objects	p. 48
RPL as a Plan Language	p. 50
The Computational Structure	p. 53
The "Criticize-Revise" Cycle	p. 53
The "Criticize" Step	p. 55
The "Revise" Step	p. 66
The XFRM Planning Framework	p. 66
Anticipation and Forestalling of Behavior Flaws	p. 67
The Detection of Behavior Flaws	p. 68
Behavior Flaws and Plan Revisions	p. 68
The Diagnosis of Behavior Flaws	p. 69
Summary and Discussion	p. 72
Transparent Reactive Plans	p. 75
Declarative Statements	p. 75
RPL Construct Descriptions	p. 78
Achievement Goals	p. 81
Perceptions	p. 83
Beliefs	p. 84
Other Declarative Statements	p. 85
Using Declarative Statements	p. 86
Routine Plans	p. 88
The Plan Library	p. 93
Behavior Modules	p. 93
Low-level Plans	p. 93
High-level Plans	p. 95
Discussion	p. 97
Representing Plan Revisions	p. 99
Conceptualization	p. 101
Making Inferences	p. 105
Some Examples	p. 107
Accessing Code Trees	p. 108
Predicates on Plan Interpretations	p. 110
Predicates on Timelines	p. 111
Timelines and Plan Interpretation	p. 112
Expressing Plan Revisions	p. 114
XFRML - The Implementation	p. 116
Discussion	p. 117
Forestalling Behavior Flaws	p. 121
FAUST	p. 121
The Behavior Critic	p. 121
Detecting Behavior Flaws: Implementation	p. 123
Diagnosing the Causes of Behavior Flaws: Implementation	p. 128
The Bug Class "Behavior-Specification Violation"	p. 134
The Elimination of Behavior Flaws	p. 135
The Plan Revisions for the Example	p. 135
Some Behavior Flaws and Their Revisions	p. 140
Perceptual Confusion	p. 141
Missed Deadlines	p. 142
Summary and Discussion	p. 144
Planning Ongoing Activities	p. 147
Extending RPL	p. 149
The RUNTIME-PLAN Statement	p. 151
Plan Swapping	p. 154
Making Planning Assumptions	p. 156
Deliberative Controllers	p. 158
Improving Iterative Plans by Local Planning	p. 158
Plan Execution a la Shakey	p. 158
Execution Monitoring and Replanning	p. 159
Recovering from Execution Failures	p. 160
Some Robot Control Architectures	p. 161
The Controller in the Experiment	p. 163
Discussion	p. 164
Evaluation	p. 167
Analysis of the Problem	p. 167
Assessment of the Method	p. 170
Description of the Method	p. 170
Evaluation of the Method	p. 170
Demonstration	p. 176
Evaluating SRCs in Standard Situations	p. 176
Comparing SRCs with the Appropriate Fixed Controller179
Problems that Require SRCs	p. 181
Related Work	p. 189
Control Architectures for Competent Physical Agents	p. 189
Control Languages for Reactive Control	p. 194
Robot Planning	p. 195
Conclusion	p. 201
What Do Structured Reactive Controllers Do?	p. 201
Why Do Structured Reactive Controllers Work?	p. 202
Do Structured Reactive Controllers Work for Real Robots?	p. 204
References	p. 205
Table of Contents provided by Publisher. All Rights Reserved.

Concurrent Reactive Plans

Anticipating and Forestalling Execution Failures

At a Glance

Paperback

Shipping

How to return your order

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