Interleaving Planning and Robot Execution for Asynchronous User Requests
Karen Zita Haigh and Manuela Veloso,
School of Computer Science, Carnegie Mellon University
AAAI-96 Spring symposium ``Planning with Incomplete
Information for Robot Problems'', March 1996. Pages 35-44
This paper describes Rogue, an integrated planning and executing robotic
agent. Rogue is designed to be a roving office gopher unit, doing tasks
such as picking up & delivering mail and returning & picking up library
books, in a setup where users can post tasks for the robot to do. We have been
working towards the goal of building a completely autonomous agent which can
learn from its experiences and improve upon its own behaviour with time. This
paper describes what we have achieved to-date: (1) a system that can generate an
d
execute plans for multiple interacting goals which arrive asynchronously and
whose task structure is not known a priori, interrupting and suspending
tasks when necessary, and (2) a system which can
compensate for minor problems in its domain knowledge, monitoring execution to
determine when actions did not achieve expected results, and replanning to
correct failures.