Plan-based control of robotic agents : improving the capabilities of autonomous robots

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Plan-based control of robotic agents : improving the capabilities of autonomous robots / Michael Beetz

資料種別:: 図書
出版情報:: Berlin ; Tokyo : Springer, c2002
形態:: xi, 191 p. ; 24 cm
シリーズ名:: Lecture notes in computer science ; 2554 . Lecture notes in artificial intelligence <BA00009279>
著者名:: Beetz, Michael, 1961-
ISBN:: 9783540003359 [3540003355]
書誌ID:: BA60719567

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注記:

Bibliography: p. [181]-191

主題:

Autonomous robots; Intelligent agents (Computer software); Intelligent control systems; Robots--Control systems

言語:

英語

目次情報:

Introduction / 1：

The Challenges of Controlling Robot Office Couriers / 1.1：

The Control Problem / 1.2：

The Computational Model / 1.3：

An Adaptive Robotic Office Courier / 1.4：

Previous Work / 1.5：

Descriptive Models of Everyday Activity / 1.5.1：

Computational Models of Everyday Activity / 1.5.2：

Contributions / 1.6：

Overview / 1.7：

Overview of the Control System / 2：

Abstract Models of Robotic Agents / 2.1：

The Dynamic System Model / 2.1.1：

Autonomous Robots as Rational Agents / 2.1.2：

The BDI Model of Rational Agents / 2.1.3：

Discussion of Our Robotic Agent Model / 2.1.4：

The Environment Maps / 2.2：

The Computational Structure of the Control System / 2.3：

The Functional Layer / 2.3.1：

The "Robotic Agent" Abstract Machine / 2.3.2：

The Structured Reactive Controller / 2.3.3：

Plan Representation for Robotic Agents / 3：

Low -Level Integration of Mechanisms / 3.1：

Navigation / 3.1.1：

Communication Mechanisms / 3.1.2：

Execution Time Planning / 3.1.3：

Image Processing / 3.1.4：

Summary of Low -Level Integration / 3.1.5：

Low -Level Plans / 3.2：

Low -Level Navigation Plans / 3.2.1：

Low -Level Image Processing Plans / 3.2.2：

Low -Level Conversational Plans / 3.2.3：

Task-Specific Low -Level Plans / 3.2.4：

Summary of Low -Level Plans / 3.2.5：

Structured Reactive Plans / 3.3：

Properties of SRCs and Their Sub-plans / 3.3.1：

High-Level Navigation Plans / 3.3.2：

Structured Reactive Plans for Other Mechanisms / 3.3.3：

The Plan Adaptation Framew ork / 3.4：

Properties of Revision Rules and Revisable Plans / 3.4.1：

Revision Rules / 3.4.2：

Related Work on Plan Representation / 3.5：

Discussion / 3.6：

Probabilistic Hybrid Action Models / 4：

Projecting Delivery Tour Plans / 4.1：

Modeling Reactive Control Processes and Continuous Change / 4.2：

Probabilistic, Totally-Ordered Temporal Projection / 4.3：

Probabilistic Temporal Rules for PHAMs / 4.3.1：

Properties of PHAMs / 4.3.2：

The Implementation of PHAMs / 4.4：

Projection with Adaptive Causal Models / 4.4.1：

Endogenous Event Scheduler / 4.4.2：

Projecting Exogenous Events, Passive Sensors, and Obstacle Avoidance / 4.4.3：

Probabilistic Sampling-Based Projection / 4.4.4：

Evaluation / 4.5：

Generality / 4.5.1：

Scaling Up / 4.5.2：

Qualitatively Accurate Predictions / 4.5.3：

Related Work on Temporal Projection / 4.6：

LearningStructured Reactive Navigation Plans / 4.7：

Navigation Planning as a Markov Decision Problem / 5.1：

An Overviewon XfrmLearn / 5.2：

Structured Reactive Navigation Plans / 5.3：

XfrmLearn in Detail / 5.4：

The "Analyze" Step / 5.4.1：

The "Revise" Step / 5.4.2：

The "Test" Step / 5.4.3：

Experimental Results / 5.5：

The First Learning Experiment / 5.5.1：

The Second Learning Experiment / 5.5.2：

Discussion of the Experiments / 5.5.3：

Related Work on Learning Robot Plans / 5.6：

Plan-Based Robotic Agents / 5.7：

A Robot Office Courier / 6.1：

The Plans of the Robot Courier / 6.1.1：

Plan Adaptors of the Robot Courier / 6.1.2：

Probabilistic Prediction-Based Schedule Debugging / 6.1.3：

Demonstrations and Experiments / 6.1.4：

Prediction-Based Plan Management / 6.1.5：

A Robot Museums Tourguide / 6.2：

The Plans of the Tourguide Robot / 6.2.1：

Learning Tours and Tour Management / 6.2.2：

Demonstrations of the Tourguide Robot / 6.2.3：

A Robot Party Butler / 6.3：

Demonstrations of Integrated Mechanisms / 6.4：

Communication / 6.4.1：

Resource-Adaptive Search / 6.4.2：

Active Localization / 6.4.4：

Related Work on Plan-Based Robotic Agents / 6.5：

XAVIER / 6.5.1：

CHIP / 6.5.2：

Flakey / 6.5.3：

An Architecture for Autonomy / 6.5.4：

Remote Agent / 6.5.5：

Conclusions / 6.6：

Bibliography

Introduction / 1：

The Challenges of Controlling Robot Office Couriers / 1.1：

The Control Problem / 1.2：

The Computational Model / 1.3：

An Adaptive Robotic Office Courier / 1.4：

Previous Work / 1.5：

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