Advances in Plan-Based Control of Robotic Agents: International Seminar, Dagstuhl Castle, Germany, October 21-26, 2001, Revised Papers

By M. Beetz

In recent years, autonomous robots, including Xavier, Martha 1], Rhino 2,3], Minerva, and Remote Agent, have shown impressive performance in long-term demonstrations. In NASA's Deep Space program, for example, an - tonomous spacecraft controller, called the Remote Agent 5], has autonomously performed a scienti?c experiment in space. At Carnegie Mellon University, Xavier 6], another autonomous mobile robot, navigated through an o?ce - vironment for more than a year, allowing people to issue navigation commands and monitor their execution via the Internet. In 1998, Minerva 7] acted for 13 days as a museum tourguide in the Smithsonian Museum, and led several thousand people through an exhibition. These autonomous robots have in common that they rely on plan-based c- trol in order to achieve better problem-solving competence. In the plan-based approach, robots generate control actions by maintaining and executing a plan that is e?ective and has a high expected utility with respect to the robots' c- rent goals and beliefs. Plans are robot control programs that a robot can not only execute but also reason about and manipulate 4]. Thus, a plan-based c- troller is able to manage and adapt the robot's intended course of action -- the plan -- while executing it and can thereby better achieve complex and changing tasks.

• Format: Paperback
• Language: English
• ISBN: 3540001689
• ISBN13: 9783540001683
• Release Date: November 2002
• Publisher: Springer
• Length: 296 Pages
• Weight: 1.00 lbs.
• Dimensions: 0.7" x 6.6" x 9.2"