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ECAI
2000
Springer

Turning High-Level Plans into Robot Programs in Uncertain Domains

14 years 4 months ago
Turning High-Level Plans into Robot Programs in Uncertain Domains
The actions of a robot like lifting an object are often best thought of as low-level processes with uncertain outcome. A highlevel robot plan can be seen as a description of a task which combines these processes in an appropriate way and which may involve nondeterminism in order to increase a plan’s generality. In a given situation, a robot needs to turn a given plan into an executable program for which it can establish, through some form of projection, that it satisfies a given goal with some probability. In this paper we will show how this can be achieved in a logical framework. In particular, low-level processes are modelled as programs in pGOLOG, a probabilistic variant of the action language GOLOG. High-level plans are like ordinary GOLOG programs except that during projection the names of low-level processes are replaced by their pGOLOGdefinitions.
Henrik Grosskreutz, Gerhard Lakemeyer
Added 02 Aug 2010
Updated 02 Aug 2010
Type Conference
Year 2000
Where ECAI
Authors Henrik Grosskreutz, Gerhard Lakemeyer
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