Universal Plans for Reactive Robots in Unpredictable Environments：（普遍反应在不可预测的环境中机器人的计划）.pdfVIP

Universal Plans for Reactive Rob ots in Unpredictable Environments MJ Schopp ers Advanced Decision Systems San Antonio Circle Mountain View CA Abstract continuity and uncertainty The core problem is one of overcommitment In Proc th IJCAI ff The use of abstract plans of partial plans and of To date reactive rob ot b ehavior has b een achieved reactive pro cedures sidesteps the early commit only through manual programming This pap er de ment problem by interleaving plan renement and ex scrib es a new kind of plan called a universal plan ecution The p enalty is that acting on an incomplete which can b e synthesized automatically yet generates plan may make the goal p ermanently unachievable the appropriate b ehavior in unpredictable environments In classical planning work problems were p osed with planner may paint itself into a corner unique initial and nal world states in my approach a The work rep orted in this pap er is the rst fruits problem sp ecies only a goal condition The planner is of a larger pro ject concerned with the integration of thus unable to commit to any sp ecic future course of planning executing sensing and reacting As a rst events but must sp ecify appropriate reactions for an step that pro ject will drive a rob ot arm in an envi ticipated situations An alternative conception is that one universal plan compact