Every Action-Based Sensor
Every Action-Based Sensor
复制标题
每个基于动作的传感器
DOI：
10.1007/978-3-030-66723-8_11
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Shell, Dylan A.
中科院分区：
文献类型：
--
作者：
McFassel, Grace;Shell, Dylan A.
在研究机器人和规划问题时，一个基本问题是机器人必须获得的最少信息才能保证任务完成。埃德曼的基于动作的传感器理论是表征基本信息需求的经典方法。该方法使用一个计划来派生一种虚拟传感器，该传感器规定了朝着目标取得进展的行动。我们表明，既定的理论是不完整的：以前使用回链计划获取此类传感器的方法忽略了一些传感器。此外，还有一些计划可以保证实现目标，而现有方法无法提供任何基于动作的传感器。我们确定了所有此类计划共有的基本特征。然后，我们展示了如何为现有处理不足的计划生成基于动作的传感器，尽管对于这些情况，它们没有单一的规范传感器。因此，该方法被推广到生产传感器组。最后，我们还表明，这是用于规划问题的基于动作的传感器的完整表征，并讨论基于动作的传感器如何转化为传感器的传统概念。
In studying robots and planning problems, a basic question is what is the minimal information a robot must obtain to guarantee task completion. Erdmann’s theory of action-based sensors is a classical approach to characterizing fundamental information requirements. That approach uses a plan to derive a type of virtual sensor which prescribes actions that make progress toward a goal. We show that the established theory is incomplete: the previous method for obtaining such sensors, using backchained plans, overlooks some sensors. Furthermore, there are plans, that are guaranteed to achieve goals, where the existing methods are unable to provide any action-based sensor. We identify the underlying feature common to all such plans. Then, we show how to produce action-based sensors even for plans where the existing treatment is inadequate, although for these cases they have no single canonical sensor. Consequently, the approach is generalized to produce sets of sensors. Finally, we show also that this is a complete characterization of action-based sensors for planning problems and discuss how an action-based sensor translates into the traditional conception of a sensor.