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Armin Müller and Michael Beetz. Designing and Implementing a Plan Library for a Simulated Household Robot. In Cognitive Robotics: Papers from the AAAI Workshop, pp. 119–128, American Association for Artificial Intelligence, Menlo Park, California, 2006.
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Abstract
As we are deploying planning mechanisms in real-world applications, such as the control of autonomous robots, it becomes apparent that the performance of plan-based controllers critically depends on the design and implementation of plan libraries. Despite its importance the investigation of designs of plan libraries and plans has been largely ignored. In this paper we describe parts of a plan library that we are currently developing and applying to the control of a simulated household robot. The salient features of our plans are that they are designed for reliable, flexible, and optimized execution, and are grounded into sensor data and action routines. We provide empirical evidence that design criteria that we are proposing have considerable impact on the performance level of robots.
BibTeX Entry
@InProceedings{mueller06designing,
author = {Armin M{\"u}ller and Michael Beetz},
title = {Designing and Implementing a Plan Library for a Simulated Household Robot},
booktitle = {Cognitive Robotics: Papers from the AAAI Workshop},
editor = {Michael Beetz and Kanna Rajan and Michael Thielscher and Radu Bogdan Rusu},
pages = {119--128},
year = {2006},
series = {Technical Report WS-06-03},
isbn = {978-1-57735-285-3},
publisher = {American Association for Artificial Intelligence},
address = {Menlo Park, California},
bib2html_pubtype = {Refereed Workshop Paper},
bib2html_rescat = {Plan-based Robot Control},
bib2html_groups = {IAS},
abstract = {As we are deploying planning mechanisms in real-world
applications, such as the control of autonomous robots, it becomes
apparent that the performance of plan-based controllers critically
depends on the design and implementation of plan libraries.
Despite its importance the investigation of designs of plan
libraries and plans has been largely ignored.
In this paper we describe parts of a plan library that we are
currently developing and applying to the control of a simulated
household robot. The salient features of our plans are that they
are designed for reliable, flexible, and optimized execution, and are
grounded into sensor data and action routines. We provide
empirical evidence that design criteria that we are proposing have
considerable impact on the performance level of robots.}
}
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