Advances in Plan-Based Control of Robotic Agents: by Rachid Alami, Silvia Silva da Costa Bothelho (auth.),

By Rachid Alami, Silvia Silva da Costa Bothelho (auth.), Michael Beetz, Joachim Hertzberg, Malik Ghallab, Martha E. Pollack (eds.)

In contemporary years, self sustaining robots, together with Xavier, Martha [1], Rhino [2,3], Minerva,and distant Agent, have proven remarkable functionality in long term demonstrations. In NASA’s Deep house software, for instance, an - tonomous spacecraft controller, referred to as the distant Agent [5], has autonomously played a scienti?c scan in house. At Carnegie Mellon collage, Xavier [6], one other self sustaining cellular robotic, navigated via an o?ce - vironment for greater than a 12 months, permitting humans to factor navigation instructions and visual display unit their execution through the net. In 1998, Minerva [7] acted for thirteen days as a museum tourguide within the Smithsonian Museum, and led numerous thousand humans via an exhibition. those independent robots have in universal that they depend upon plan-based c- trol that allows you to in attaining greater problem-solving competence. within the plan-based technique, robots generate regulate activities via holding and executing a plan that's e?ective and has a excessive anticipated software with admire to the robots’ c- hire objectives and ideology. Plans are robotic keep watch over courses robotic can't in basic terms execute but in addition cause approximately and control [4]. therefore, a plan-based c- troller is ready to deal with and adapt the robot’s meant plan of action — the plan — whereas executing it and will thereby higher in attaining complicated and altering tasks.

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

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Terminate(LeftWingAttack1) ApplyActionSelectionStrategy(Default) The plan for playing offense executes the default action selection strategy and monitors the game situation for opportunities to perform specific plays and threats that constitute risks for currently executed plays. This is done by two policies. The first one continually checks the situation for play opportunities and finally makes the decision about whether or not to take an opportunity. The second policy monitors the game situation during the execution of a play.

Russell. Programmable reinforcement learning agents. In Proceedings of the 13th Conference on Neural Information Processing Systems, pages 1019–1025, Cambridge, MA, 2001. MIT Press. Bal98. T. Balch. Integrating learning with motor schema-based control for a robot soccer team. Lecture Notes in Computer Science, 1395:483–492, 1998. BBH+ 01. M. Beetz, S. Buck, R. Hanek, T. Schmitt, and B. Radig. The AGILO autonomous robot soccer team: Computational principles, experiences, and perspectives. In International Joint Conference on Autonomous Agents and Multi Agent Systems (AAMAS) 2002, page to appear, Bologna, Italy, 2001.

4 Plan Schemata for Robot Soccer To see how soccer plays are specified as rpl plans let us consider a specific example that is depicted in Figure 5. In the play the left wing player is supposed to go deep left such that it is free to receive a pass from the play maker in the mid field. Upon receiving the ball the left wing player is to dribble towards the goal and shoot. The play starts with the play maker in ball possession in its own half. The play maker dribbles towards the center of the field and passes the ball deep left.

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