Anytime Sensing Planning and Action: A Practical Model for Robot Control
Anytime Sensing Planning and Action: A Practical Model for Robot Control
复制标题
随时感知规划和行动：机器人控制的实用模型
DOI：
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发表时间：
1993
期刊：
影响因子：
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通讯作者：
Stuart J. Russell
中科院分区：
文献类型：
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作者：
S. Zilberstein;Stuart J. Russell
随着计算时间的增加，任意时间算法的结果质量逐渐提高，为机器人系统的定时规划和控制提供了有用的性能组成部分。在早期的工作中，我们介绍了一种用于任意时间算法优化组合的编译方案。本文提出了一种导航系统的实现方案，在该系统中，离线编译过程和运行时监控组件保证了任意时间模块的最佳时间分配。关键的元级知识以条件性能配置文件的形式保存在anytime库中。我们还将逐步改进的概念扩展到感知和计划执行。其结果是机器人系统的有效，灵活的控制，利用时间和质量之间的权衡，在计划，传感和计划执行。
Anytime algorithms, whose quality of results improves gradually as computation time increases, provide useful performance components for timecritical planning and control of robotic systems. In earlier work, we introduced a compilation scheme for optimal composition of anytime algorithms. In this paper we present an implementation of a navigation system in which an off-line compilation process and a run-time monitoring component guarantee the optimal allocation of time to the anytime modules. The crucial meta-level knowledge is kept in the anytime library in the form of conditional performance profiles. We also extend the notion of gradual improvement to sensing and plan execution. The result is an efficient, flexible control for robotic systems that exploits the tradeoff between time and quality in planning, sensing and plan execution.