Behavior Retrieval for Robot Control in a Unified CBR Hybrid Planner

Thisresearchexaminesa hybridplannerfor a real-worldmobile robotdeliveringmessagesin an office environment.The overall project, RUPART,uses "unified CBR"to combine behavior-basedcontrol withhigh-levelcase-basedplanning, usinga singlesimilaritymetricto retrievebothbehaviorcases andplan cases. Thispaperfocuseson case-basedreasoning for behaviorcases. Eachbehaviorcasedescribesa set of behaviorstargetedfor a particularenvironment.Weexplorefeatures usedto indexbehaviorcases,as wellas adaptationand learningmethods.Thisprojectis incompleteat this time, and thoroughevaluation,whileunderway,is notcomplete.

• Type: Conference
• Year: 2001
• Where: FLAIRS
• Authors: Susan Eileen Fox
• Keywords: Artificial Intelligence, CBR"to Combine Behavior-basedcontrol, FLAIRS 2001, Particularenvironment.Weexplorefeatures Usedto Indexbehaviorcases, Retrievebothbehaviorcases Andplan Cases