TY - GEN
T1 - Finding and exploiting goal opportunities in real-time during plan execution
AU - Schermerhorn, Paul
AU - Benton, J.
AU - Scheutz, Matthias
AU - Talamadupula, Kartik
AU - Kambhampati, Subbarao
PY - 2009/12/11
Y1 - 2009/12/11
N2 - Autonomous robots that operate in real-world domains face multiple challenges that make planning and goal selection difficult. Not only must planning and execution occur in real time, newly acquired knowledge can invalidate previous plans, and goals and their utilities can change during plan execution. However, these events can also provide opportunities, if the architecture is designed to react appropriately. We present here an architecture that integrates the SapaReplan planner with the DIARC robot architecture, allowing the architecture to react dynamically to changes in the robot's goal structures.
AB - Autonomous robots that operate in real-world domains face multiple challenges that make planning and goal selection difficult. Not only must planning and execution occur in real time, newly acquired knowledge can invalidate previous plans, and goals and their utilities can change during plan execution. However, these events can also provide opportunities, if the architecture is designed to react appropriately. We present here an architecture that integrates the SapaReplan planner with the DIARC robot architecture, allowing the architecture to react dynamically to changes in the robot's goal structures.
UR - http://www.scopus.com/inward/record.url?scp=76249103256&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249103256&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354119
DO - 10.1109/IROS.2009.5354119
M3 - Conference contribution
AN - SCOPUS:76249103256
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 3912
EP - 3917
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -