A framework for plan execution in behavior-based robots

被引：8

作者：

Hertzberg, J ^{[1
]}

Jaeger, H ^{[1
]}

Zimmer, U ^{[1
]}

Morignot, P ^{[1
]}

机构：

[1] Schloss Birlinghoven, GMD, D-53754 Sankt Augustin, Germany

来源：

JOINT CONFERENCE ON THE SCIENCE AND TECHNOLOGY OF INTELLIGENT SYSTEMS | 1998年

关键词：

plan execution; agent architectures; perception; reactive systems;

D O I：

10.1109/ISIC.1998.713627

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a conceptual architecture for autonomous robots that integrates behavior-based and goal-directed action as by following a traditional action plan. Dual Dynamics is the formalism for describing behavior-based action. Partial-order propositional plans are used as a basis for acting goal-directedly; the concept is suitable for using other planning methods and plan formats, though. We describe the corresponding action and plan representations at the plan side and at the behavior side. Moreover, we demonstrate how behavior-based action is biased towards executing a plan and how information from the behavior side is fed back to the plan side to determine progress in the plan execution.

引用

页码：8 / 13

页数：6