Concurrent reactive plans : anticipating and forestalling execution failures

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Concurrent reactive plans : anticipating and forestalling execution failures / Michael Beetz

資料種別:: 図書
出版情報:: Berlin : Springer, 2000
形態:: xvi, 213 p. ; 24 cm
シリーズ名:: Lecture notes in computer science ; 1772 . Lecture notes in artificial intelligence <BA00009279>
著者名:: Beetz, Michael
ISBN:: 9783540672418 [3540672419]
書誌ID:: BA46075318

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Includes bibliographical references

主題:

器械計算．計算器

言語:

英語

目次情報:

Abstract

Acknowledgements

List of Figures

Introduction / 1：

The Approach / 1.1：

Technical Challenges / 1.2：

Introductory Example / 1.3：

Motivation / 1.4：

Relevance for Autonomous Robot Control / 1.4.1：

Relevance for AI Planning / 1.4.2：

The Computational Problem and Its Solution / 1.5：

The Computational Problem / 1.5.1：

The Computational Model / 1.5.2：

Contributions / 1.6：

Outline of the Book / 1.7：

Reactivity / 2：

The DeliveryWorld / 2.1：

The World / 2.1.1：

Commands and Jobs / 2.1.2：

The Robot / 2.1.3：

Justification of the DeliveryWorld / 2.1.4：

The Implementation of Routine Activities / 2.2：

Plan Steps vs. Concurrent Control Processes / 2.2.1：

Interfacing Continuous Control Processes / 2.2.2：

Coordinating Control Processes / 2.2.3：

Synchronization of Concurrent Control Threads / 2.2.4：

Failure Recovery / 2.2.5：

Perception / 2.2.6：

State, Memory, and World Models / 2.2.7：

The Structure of Routine Activities / 2.2.8：

The Structured Reactive Controller / 2.3：

Behavior and Planning Modules / 2.3.1：

The Body of the Structured Reactive Controller / 2.3.2：

Global Fluents, Variables, and the Plan Library / 2.3.3：

The RPL Runtime System / 2.3.4：

Summary and Discussion / 2.4：

Planning / 3：

The Structured Reactive Plan / 3.1：

Plans as Syntactic Objects / 3.1.1：

RPL as a Plan Language / 3.1.2：

The Computational Structure / 3.2：

The "Criticize-Revise" Cycle / 3.2.1：

The "Criticize" Step / 3.2.2：

The "Revise" Step / 3.2.3：

The XFRM Planning Framework / 3.3：

Anticipation and Forestalling of Behavior Flaws / 3.4：

The Detection of Behavior Flaws / 3.4.1：

Behavior Flaws and Plan Revisions / 3.4.2：

The Diagnosis of Behavior Flaws / 3.4.3：

Transparent Reactive Plans / 3.5：

Declarative Statements / 4.1：

RPL Construct Descriptions / 4.1.1：

Achievement Goals / 4.1.2：

Perceptions / 4.1.3：

Beliefs / 4.1.4：

Other Declarative Statements / 4.1.5：

Using Declarative Statements / 4.1.6：

Routine Plans / 4.2：

The Plan Library / 4.3：

Behavior Modules / 4.3.1：

Low-level Plans / 4.3.2：

High-level Plans / 4.3.3：

Discussion / 4.4：

Representing Plan Revisions / 5：

Conceptualization / 5.1：

Making Inferences / 5.2：

Some Examples / 5.2.1：

Accessing Code Trees / 5.2.2：

Predicates on Plan Interpretations / 5.2.3：

Predicates on Timelines / 5.2.4：

Timelines and Plan Interpretation / 5.2.5：

Expressing Plan Revisions / 5.3：

XFRML - The Implementation / 5.4：

Forestalling Behavior Flaws / 5.5：

FAUST / 6.1：

The Behavior Critic / 6.1.1：

Detecting Behavior Flaws: Implementation / 6.1.2：

Diagnosing the Causes of Behavior Flaws: Implementation / 6.1.3：

The Bug Class "Behavior-Specification Violation" / 6.1.4：

The Elimination of Behavior Flaws / 6.1.5：

The Plan Revisions for the Example / 6.2：

Some Behavior Flaws and Their Revisions / 6.3：

Perceptual Confusion / 6.3.1：

Missed Deadlines / 6.3.2：

Planning Ongoing Activities / 6.4：

Extending RPL / 7.1：

The RUNTIME-PLAN Statement / 7.1.1：

Plan Swapping / 7.1.2：

Making Planning Assumptions / 7.1.3：

Deliberative Controllers / 7.2：

Improving Iterative Plans by Local Planning / 7.2.1：

Plan Execution a la Shakey / 7.2.2：

Execution Monitoring and Replanning / 7.2.3：

Recovering from Execution Failures / 7.2.4：

Some Robot Control Architectures / 7.2.5：

The Controller in the Experiment / 7.3：

Evaluation / 7.4：

Analysis of the Problem / 8.1：

Assessment of the Method / 8.2：

Description of the Method / 8.2.1：

Evaluation of the Method / 8.2.2：

Demonstration / 8.3：

Evaluating SRCs in Standard Situations / 8.3.1：

Comparing SRCs with the Appropriate Fixed Controller179 / 8.3.2：

Problems that Require SRCs / 8.3.3：

Related Work / 8.4：

Control Architectures for Competent Physical Agents / 8.4.1：

Control Languages for Reactive Control / 8.4.2：

Robot Planning / 8.4.3：

Conclusion / 9：

What Do Structured Reactive Controllers Do? / 9.1：

Why Do Structured Reactive Controllers Work? / 9.2：

Do Structured Reactive Controllers Work for Real Robots? / 9.3：

References

Abstract

Acknowledgements

List of Figures

Introduction / 1：

The Approach / 1.1：

Technical Challenges / 1.2：

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