RIA: Parallel Artificial Intelligence Techniques Applied toRobot Planning

智能机器人规划技术的发展是未来水下和空间探索以及工业自动化的重要组成部分。这些技术应用于自主水下和行星探测器、自主交会和对接、核电站的运行和维护、舱外活动、自主着陆器、机器人和遥控机器人的控制和自动化，以及实验室、船舶或工业场所的一般建设和运营。该项目的目的是通过使用并行硬件和机器学习技术来提高机器人规划的效率和有效性。该项目由两个组成部分组成，每个部分都独立地或共同地为机器人活动的自动化做出贡献。第一个子项目侧重于开发启发式搜索的并行算法，这是机器人规划的基本组成部分。第二个子项目通过寻找新旧计划之间的相似之处来关注计划的增量修改和重用。这两个项目已经在若干搜索和规划问题上进行了开发和测试。我们建议通过改进并行搜索算法、开发并行规划算法和应用动态图匹配来扩展现有研究，以允许在动态变化的环境中重用计划。//

The development of intelligent robot planning techniques is an essential element of future underwater and space exploration and industrial automation. These technologies find application in autonomous underwater and planetary rovers, autonomous rendezvous and docking, operation and maintenance of a nuclear power plant, extravehicular activity, autonomous landers, robotic and telerobotic control and automation, and in the general construction and operation of a laboratory, ship or industrial site. The purpose of this project is to increase the efficiency and effectiveness of robot planning by making use of parallel hardware and machine learning techniques. The project is made up to two component parts, each of which contributes independently and collectively to the automation of robotic activity. The first subproject focuses on developing parallel algorithms for heuristic search, which is a fundamental component in robot planning. The second subproject focuses on incremental modification and reuse of plans by searching for similarities between old and new plans. These two projects have been developed and tested on several search and planning problems. We propose to extend the existing research by improving the parallel search algorithms, developing parallel planning algorithms, and applying dynamic graph match to allow reuse of plans in a dynamically changing environment.//