Interleaving Planning And Execution For Autonomous Robots

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Interleaving Planning and Execution for Autonomous Robots

Author : Illah Reza Nourbakhsh
Publisher : Springer Science & Business Media
ISBN 13 : 1461563178
Total Pages : 153 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Interleaving Planning and Execution for Autonomous Robots by : Illah Reza Nourbakhsh

Download or read book Interleaving Planning and Execution for Autonomous Robots written by Illah Reza Nourbakhsh and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 153 pages. Available in PDF, EPUB and Kindle. Book excerpt: Interleaving Planning and Execution for Autonomous Robots develops a formal representation for interleaving planning and execution in the context of incomplete information. This work bridges the gap between theory and practice in robotics by presenting control architectures that are provably sound, complete and optimal, and then describing real-world implementations of these robot architectures. Dervish, winner of the 1994 AAAI National Robot Contest, is one of the robots featured. Interleaving Planning and Execution for Autonomous Robots is based on the author's PhD research, covering the same material taught in CS 224, the very popular Introduction to Robot Programming Laboratory taught at Stanford for four years by Professor Michael Genesereth and the author.

Interleaving Planning and Execution

Author : Illah Reza Nourbakhsh
Publisher :
ISBN 13 :
Total Pages : 332 pages
Book Rating : 4.F/5 ( download)

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Book Synopsis Interleaving Planning and Execution by : Illah Reza Nourbakhsh

Download or read book Interleaving Planning and Execution written by Illah Reza Nourbakhsh and published by . This book was released on 1997 with total page 332 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "In this dissertation, we explore architectures and termination criteria for interleaving planning and execution. Our aim is to present a broad study of interleaving, describing approaches that allow safe, early termination of planning episodes and corresponding control systems that achieve specified goal conditions cheaply by taking advantage of the gains incurred through interleaving. We intend to describe a basic control architecture for controlling multiple planning and execution episodes. Furthermore, we will describe planning termination criteria. The criteria will be based on a variety of techniques, from the analysis of the structure of candidate plans to the creation of abstraction systems that 'direct' early termination of ground-level planning. We will present conditions under which theoretical results of soundness, completeness and optimality hold for these techniques. In addition, we will describe long- term empirical results using simulation and real-world mobile robot tests. Finally, throughout this work we also hope to show that many of the current results in the motion planning, finite state machine learning, and mobile robot navigation communities are special cases of the more general systems and termination criteria presented here."

Plan-Based Control of Robotic Agents

Author : Michael Beetz
Publisher : Springer
ISBN 13 : 3540363815
Total Pages : 199 pages
Book Rating : 4.5/5 (43 download)

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Book Synopsis Plan-Based Control of Robotic Agents by : Michael Beetz

Download or read book Plan-Based Control of Robotic Agents written by Michael Beetz and published by Springer. This book was released on 2003-07-01 with total page 199 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic agents, such as autonomous office couriers or robot tourguides, must be both reliable and efficient. Thus, they have to flexibly interleave their tasks, exploit opportunities, quickly plan their course of action, and, if necessary, revise their intended activities. This book makes three major contributions to improving the capabilities of robotic agents: - first, a plan representation method is introduced which allows for specifying flexible and reliable behavior - second, probabilistic hybrid action models are presented as a realistic causal model for predicting the behavior generated by modern concurrent percept-driven robot plans - third, the system XFRMLEARN capable of learning structured symbolic navigation plans is described in detail.

Autonomous Agents

Author : George A. Bekey
Publisher : Springer Science & Business Media
ISBN 13 : 1461557356
Total Pages : 120 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Autonomous Agents by : George A. Bekey

Download or read book Autonomous Agents written by George A. Bekey and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: An agent is a system capable of perceiving the environment, reasoning with the percepts and then acting upon the world. Agents can be purely software systems, in which case their percepts and output `actions' are encoded binary strings. However, agents can also be realized in hardware, and then they are robots. The Artificial Intelligence community frequently views robots as embodied intelligent agents. The First International Conference on Autonomous Agents was held in Santa Monica, California, in February 1997. This conference brought together researchers from around the world with interests in agents, whether implemented purely in software or in hardware. The conference featured such topics as intelligent software agents, agents in virtual environments, agents in the entertainment industry, and robotic agents. Papers on robotic agents were selected for this volume. Autonomous Agents will be of interest to researchers and students in the area of artificial intelligence and robotics.

Situation-dependent Learning for Interleaved Planning and Robot Execution

Author : Carnegie Mellon University. Computer Science Department
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (395 download)

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Book Synopsis Situation-dependent Learning for Interleaved Planning and Robot Execution by : Carnegie Mellon University. Computer Science Department

Download or read book Situation-dependent Learning for Interleaved Planning and Robot Execution written by Carnegie Mellon University. Computer Science Department and published by . This book was released on 1998 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "This dissertation presents the complete integrated planning, executing and learning robotic agent Rogue. Physical domains are notoriously hard to model completely and correctly. Robotics researchers have developed learning algorithms to successfully tune operational parameters. Instead of improving low-level actuator control, our work focusses instead at the planning stages of the system. The thesis provides techniques to directly process execution experience, and to learn to improve planning and execution performance. Rogue accepts multiple, asynchronous task requests, and interleaves task planning with real-world robot execution. This dissertation describes how Rogue prioritizes tasks, suspends and interrupts tasks, and opportunistically achieves compatible tasks. We present how Rogue interleaves planning and execution to accomplish its tasks, monitoring and compensating for failure and changes in the environment. Rogue analyzes execution experience to detect patterns in the environment that affect plan quality. Rogue extracts learning opportunities from massive, continual, probabilistic execution traces. Rogue then correlates these learning opportunities with environmental features, thus detecting patterns in the form of situation-dependent rules. We present the development and use of these rules for two very different planners: the path planner and the task planner. We present empirical data to show the effectiveness of Rogue's novel learning approach. Our learning approach is applicable for any planner operating in any physical domain. Our empirical results show that situation-dependent rules effectively improve the planner's model of the environment, thus allowing the planner to predict and avoid failures, to respond to a changing environment, and to create plans that are tailored to the real world. Physical systems should adapt to changing situations and absorb any information that will improve their performance."

Situation-dependent Learning for Interleaved Planning and Robot Execution

Author : Carnegie-Mellon University. Computer Science Dept
Publisher :
ISBN 13 :
Total Pages : 173 pages
Book Rating : 4.:/5 (395 download)

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Book Synopsis Situation-dependent Learning for Interleaved Planning and Robot Execution by : Carnegie-Mellon University. Computer Science Dept

Download or read book Situation-dependent Learning for Interleaved Planning and Robot Execution written by Carnegie-Mellon University. Computer Science Dept and published by . This book was released on 1998 with total page 173 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "This dissertation presents the complete integrated planning, executing and learning robotic agent Rogue. Physical domains are notoriously hard to model completely and correctly. Robotics researchers have developed learning algorithms to successfully tune operational parameters. Instead of improving low-level actuator control, our work focusses instead at the planning stages of the system. The thesis provides techniques to directly process execution experience, and to learn to improve planning and execution performance. Rogue accepts multiple, asynchronous task requests, and interleaves task planning with real-world robot execution. This dissertation describes how Rogue prioritizes tasks, suspends and interrupts tasks, and opportunistically achieves compatible tasks. We present how Rogue interleaves planning and execution to accomplish its tasks, monitoring and compensating for failure and changes in the environment. Rogue analyzes execution experience to detect patterns in the environment that affect plan quality. Rogue extracts learning opportunities from massive, continual, probabilistic execution traces. Rogue then correlates these learning opportunities with environmental features, thus detecting patterns in the form of situation-dependent rules. We present the development and use of these rules for two very different planners: the path planner and the task planner. We present empirical data to show the effectiveness of Rogue's novel learning approach. Our learning approach is applicable for any planner operating in any physical domain. Our empirical results show that situation-dependent rules effectively improve the planner's model of the environment, thus allowing the planner to predict and avoid failures, to respond to a changing environment, and to create plans that are tailored to the real world. Physical systems should adapt to changing situations and absorb any information that will improve their performance."

MICAI 2000: Advances in Artificial Intelligence

Author : Osvaldo Cairo
Publisher : Springer
ISBN 13 : 3540455620
Total Pages : 763 pages
Book Rating : 4.5/5 (44 download)

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Book Synopsis MICAI 2000: Advances in Artificial Intelligence by : Osvaldo Cairo

Download or read book MICAI 2000: Advances in Artificial Intelligence written by Osvaldo Cairo and published by Springer. This book was released on 2006-12-30 with total page 763 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fifty years ago, A. Turing predicted that by 2000 we would have a machine that could pass the Turing test. Although this may not yet be true, AI has advanced signi?cantly in these 50 years, and at the dawn of the XXI century is still an activeandchallenging?eld.Thisyearisalsosigni?cantforAIinMexico,withthe merging of the two major AI conferences into the biennial Mexican International Conference on Arti?cial Intelligence (MICAI) series. MICAI is the union of the Mexican National AI Conference (RNIA) and the International AI Symposium (ISAI), organized annually by the Mexican Society forAI(SMIA,since1984)andbytheMonterreyInstituteofTechnology(ITESM, since1988),respectively.The?rstMexicanInternationalConferenceonArti?cial Intelligence, MICAI 2000, took place April 11-14, 2000, in the city of Acapulco, Mexico.ThisconferenceseekstopromoteresearchinAI,andcooperationamong Mexican researchers and their peers worldwide. We welcome you all. Over 163 papers from 17 di?erent countries were submitted for consideration to MICAI 2000. After reviewing them thoroughly, MICAI’s program committee, referees, and program chair accepted 60 papers for the international track. This volume contains the written version of the papers and invited talks presented at MICAI. We would like to acknowledge the support of the American Association for Arti?cial Intelligence (AAAI), and the International Joint Conference on Art- cial Intelligence (IJCAI). We are specially grateful for the warm hospitality and generosity o?ered by the Acapulco Institute of Technology.

Advances in Artificial Intelligence - IBERAMIA 2002

Author : Francisco J. Garijo
Publisher : Springer Science & Business Media
ISBN 13 : 354000131X
Total Pages : 974 pages
Book Rating : 4.5/5 (4 download)

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Book Synopsis Advances in Artificial Intelligence - IBERAMIA 2002 by : Francisco J. Garijo

Download or read book Advances in Artificial Intelligence - IBERAMIA 2002 written by Francisco J. Garijo and published by Springer Science & Business Media. This book was released on 2002-10-30 with total page 974 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 8th Ibero-American Conference on Artificial Intelligence, IBERAMIA 2002, held in Seville, Spain, in November 2002. The 97 revised full papers presented were carefully reviewed and selected from a total of 345 submissions. The papers are organized in topical sections on knowledge representation and reasoning, machine learning, uncertainty and fuzzy systems, genetic algorithms, neural nets, distributed artificial intelligence and multi-agent systems, natural language processing, intelligent tutoring systems, control and real time, robotics, and computer vision.

Introduction to Autonomous Mobile Robots, second edition

Author : Roland Siegwart
Publisher : MIT Press
ISBN 13 : 0262295091
Total Pages : 473 pages
Book Rating : 4.2/5 (622 download)

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Book Synopsis Introduction to Autonomous Mobile Robots, second edition by : Roland Siegwart

Download or read book Introduction to Autonomous Mobile Robots, second edition written by Roland Siegwart and published by MIT Press. This book was released on 2011-02-18 with total page 473 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Concurrent Reactive Plans

Author : Michael Beetz
Publisher : Springer
ISBN 13 : 3540464360
Total Pages : 222 pages
Book Rating : 4.5/5 (44 download)

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Book Synopsis Concurrent Reactive Plans by : Michael Beetz

Download or read book Concurrent Reactive Plans written by Michael Beetz and published by Springer. This book was released on 2003-06-29 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this book, the author presents a new computational model of forestalling common flaws in autonomous robot behavior. To this end, robots are equipped with structured reactive plans (SRPs) which are concurrent control programs that can not only be interpreted but also be reasoned about and manipulated. The author develops a representation for SRPs in which declarative statements for goals, perceptions, and beliefs make the structure and purpose of SRPs explicit and thereby simplify and speed up reasoning about SRPs and their projections; furthermore a notation is introduced allowing for transforming and manipulating SRPs. Using this notation, a planning system can diagnose and forestall common flaws in robot plans that cannot be dealt with in other planning representations. Finally the language for writing SRPs is extended into a high-level language that can handle both planning and execution actions.

Cooperative Information Agents III

Author : Matthias Klusch
Publisher : Springer Science & Business Media
ISBN 13 : 9783540663256
Total Pages : 768 pages
Book Rating : 4.6/5 (632 download)

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Book Synopsis Cooperative Information Agents III by : Matthias Klusch

Download or read book Cooperative Information Agents III written by Matthias Klusch and published by Springer Science & Business Media. This book was released on 1999-07-21 with total page 768 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the Third International Workshop on Cooperative Information Systems, CIA'99, held in Uppsala, Sweden in July/August 1999. The 16 revised full papers presented were carefully reviewed and selected from a total of 46 submissions. Also included are ten invited contributions by leading experts. The volume is divided in sections on information discovery and management on the Internet; information agents on the Internet-prototypes systems and applications; communication and collaboration, mobile information agents; rational information agents for electronic business; service mediation and negotiation; and adaptive personal assistance.

Intelligent Techniques for Planning

Author : Ioannis Vlahavas
Publisher : IGI Global
ISBN 13 : 9781591404507
Total Pages : 392 pages
Book Rating : 4.4/5 (45 download)

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Book Synopsis Intelligent Techniques for Planning by : Ioannis Vlahavas

Download or read book Intelligent Techniques for Planning written by Ioannis Vlahavas and published by IGI Global. This book was released on 2005-01-01 with total page 392 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Intelligent Techniques for Planning presents a number of modern approaches to the area of automated planning. These approaches combine methods from classical planning such as the construction of graphs and the use of domain-independent heuristics with techniques from other areas of artificial intelligence. This book discuses, in detail, a number of state-of-the-art planning systems that utilize constraint satisfaction techniques in order to deal with time and resources, machine learning in order to utilize experience drawn from past runs, methods from knowledge systems for more expressive representation of knowledge and ideas from other areas such as Intelligent Agents. Apart from the thorough analysis and implementation details, each chapter of the book also provides extensive background information about its subject and presents and comments on similar approaches done in the past.

Robot Force Control

Author : Bruno Siciliano
Publisher : Springer Science & Business Media
ISBN 13 : 1461544319
Total Pages : 154 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Robot Force Control by : Bruno Siciliano

Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.

Engineering Approaches to Mechanical and Robotic Design for Minimally Invasive Surgery (MIS)

Author : Ali Faraz
Publisher : Springer Science & Business Media
ISBN 13 : 1461544092
Total Pages : 194 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Engineering Approaches to Mechanical and Robotic Design for Minimally Invasive Surgery (MIS) by : Ali Faraz

Download or read book Engineering Approaches to Mechanical and Robotic Design for Minimally Invasive Surgery (MIS) written by Ali Faraz and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: Within the past twenty years, the field of robotics has been finding many areas of applications ranging from space to underwater explo rations. One of these areas which is slowly gaining popularity among the users group is the notion of service robotics. This book is an in vestigation and exploration of engineering principles in the design and development of mechanisms and robotic devices that can be used in the field of surgery. Specifically the results of this book can be used for designing tools for class of Minimally Invasive Surgery (MIS). Generally, Minimal Invasive Surgery (MIS), e. g. laparoscopic surgery, is performed by using long surgical tools, that are inserted through small incisions at the ports of entry to the body (e. g. abdominal wall) for reaching the surgical site. The main drawback of current designs of en doscopic tools is that they are not able to extend all the movements and sensory capabilities of the surgeon's hand to the surgical site. By im proving surgical procedures, training, and more practice, it is possible for surgeons to reduce completion time for each task and increase their level of skill. However, even in the best cases the level of performance of a surgeon in Minimally Invasive Surgery is still a fraction of the con ventional surgery. Any dramatically improvement is usually driven by introduction of new tools or systems that in turn bring totally new pro cedures and set of skills.

Probabilistic Robotics

Author : Sebastian Thrun
Publisher : MIT Press
ISBN 13 : 0262201623
Total Pages : 668 pages
Book Rating : 4.2/5 (622 download)

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Book Synopsis Probabilistic Robotics by : Sebastian Thrun

Download or read book Probabilistic Robotics written by Sebastian Thrun and published by MIT Press. This book was released on 2005-08-19 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.

Intelligent Unmanned Ground Vehicles

Author : Martial H. Hebert
Publisher : Springer Science & Business Media
ISBN 13 : 1461563259
Total Pages : 315 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Intelligent Unmanned Ground Vehicles by : Martial H. Hebert

Download or read book Intelligent Unmanned Ground Vehicles written by Martial H. Hebert and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 315 pages. Available in PDF, EPUB and Kindle. Book excerpt: Intelligent Unmanned Ground Vehicles describes the technology developed and the results obtained by the Carnegie Mellon Robotics Institute in the course of the DARPA Unmanned Ground Vehicle (UGV) project. The goal of this work was to equip off-road vehicles with computer-controlled, unmanned driving capabilities. The book describes contributions in the area of mobility for UGVs including: tools for assembling complex autonomous mobility systems; on-road and off-road navigation; sensing techniques; and route planning algorithms. In addition to basic mobility technology, the book covers a number of integrated systems demonstrated in the field in realistic scenarios. The approaches presented in this book can be applied to a wide range of mobile robotics applications, from automated passenger cars to planetary exploration, and construction and agricultural machines. Intelligent Unmanned Ground Vehicles shows the progress that was achieved during this program, from brittle specially-built robots operating under highly constrained conditions, to groups of modified commercial vehicles operating in tough environments. One measure of progress is how much of this technology is being used in other applications. For example, much of the work in road-following, architectures and obstacle detection has been the basis for the Automated Highway Systems (AHS) prototypes currently under development. AHS will lead to commercial prototypes within a few years. The cross-country technology is also being used in the development of planetary rovers with a projected launch date within a few years. The architectural tools built under this program have been used in numerous applications, from an automated harvester to an autonomous excavator. The results reported in this work provide tools for further research development leading to practical, reliable and economical mobile robots.

Intelligent Automation and Computer Engineering

Author : Oscar Castillo
Publisher : Springer Science & Business Media
ISBN 13 : 9048135176
Total Pages : 510 pages
Book Rating : 4.0/5 (481 download)

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Book Synopsis Intelligent Automation and Computer Engineering by : Oscar Castillo

Download or read book Intelligent Automation and Computer Engineering written by Oscar Castillo and published by Springer Science & Business Media. This book was released on 2010-07-17 with total page 510 pages. Available in PDF, EPUB and Kindle. Book excerpt: A large international conference in Intelligent Automation and Computer Engineering was held in Hong Kong, March 18-20, 2009, under the auspices of the International MultiConference of Engineers and Computer Scientists (IMECS 2009). The IMECS is organized by the International Association of Engineers (IAENG). Intelligent Automation and Computer Engineering contains 37 revised and extended research articles written by prominent researchers participating in the conference. Topics covered include artificial intelligence, decision supporting systems, automated planning, automation systems, control engineering, systems identification, modelling and simulation, communication systems, signal processing, and industrial applications. Intelligent Automation and Computer Engineering offers the state of the art of tremendous advances in intelligent automation and computer engineering and also serves as an excellent reference text for researchers and graduate students, working on intelligent automation and computer engineering.