Abstract planning for reactive robots
Abstract planning for reactive robots
复制标题
反应式机器人的抽象规划
DOI：
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发表时间：
2012
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影响因子：
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通讯作者：
Matthias Scheutz
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作者：
Saket Joshi;P. Schermerhorn;R. Khardon;Matthias Scheutz
机器人技术中的混合反应式-审议架构将快速行动执行的反应式子策略与目标排序和审议相结合。然而，重新规划的需要对反应能力提出了挑战，并阻碍了保证计划质量的潜力。在本文中，我们认为可以将一阶逻辑中的符号动态规划提供的抽象规划集成到反应式机器人架构中，并且这种集成实际上是自然的，并且比传统方法具有优势。特别是，它允许集成系统花离线时间规划策略，然后在开放世界中、在出现意外结果的情况下、甚至在新环境中被动地使用该策略，所有这些都只需对状态变化做出反应，执行策略提出的新操作。我们通过将 FODD-Planner 与机器人 DIARC 架构集成来展示该方法的可行性，展示了如何定义适当的接口，并且这种集成可以在开放世界中的机器人上产生强大的基于目标的动作执行。
Hybrid reactive-deliberative architectures in robotics combine reactive sub-policies for fast action execution with goal sequencing and deliberation. The need for replanning, however, presents a challenge for reactivity and hinders the potential for guarantees about the plan quality. In this paper, we argue that one can integrate abstract planning provided by symbolic dynamic programming in first order logic into a reactive robotic architecture, and that such an integration is in fact natural and has advantages over traditional approaches. In particular, it allows the integrated system to spend off-line time planning for a policy, and then use the policy reactively in open worlds, in situations with unexpected outcomes, and even in new environments, all by simply reacting to a state change executing a new action proposed by the policy. We demonstrate the viability of the approach by integrating the FODD-Planner with the robotic DIARC architecture showing how an appropriate interface can be defined and that this integration can yield robust goal-based action execution on robots in open worlds.