Accession Number : ADA258322


Title :   Adapting the Contact Migration Policy Algorithm to Dynamic Planning in Phoenix


Descriptive Note : Final rept. 1 May 1991-30 Apr 1992


Corporate Author : FOREIGN AEROSPACE SCIENCE AND TECHNOLOGY CENTER WRIGHT-PATTERSON AFB OH


Personal Author(s) : Cohen, Paul R ; Hart, David M


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a258322.pdf


Report Date : 30 Apr 1992


Pagination or Media Count : 24


Abstract : The contact migration policy (Grupen 1991) is a reactive approach to constraining (grasping) a rigid body that incrementally constructs a stationary process model of the body in order to refine the grasp. The algorithm employed has many of the characteristics of anytime algorithm (Dean and Boddy 1988), and is therefore an attractive candidate for real-time applications such as positioning bulldozers in the Phoenix fire-fighting simulation. However, we have found that several of the assumptions underlying this algorithm do not hold in the Phoenix environment, so that such a purely reactive control mechanism is inadequate in Phoenix. Based on these findings, and on a broader survey of the application of reactivity in robotic systems, we argue for the mixture of reactive and deliberative (or predictive) mechanisms to coordinate the fire- fighting activities of Phoenix agents.


Descriptors :   *ALGORITHMS , *COMPUTERIZED SIMULATION , *HOLDERS , *CLUTCHES , STATIONARY , BULLDOZERS , COMPUTER APPLICATIONS , MIGRATION , RIGIDITY


Subject Categories : Computer Programming and Software
      Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE