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 |